US6939111B2 - Method and apparatus for controlling medical fluid pressure - Google Patents

Abstract

A method, system and apparatus for performing peritoneal dialysis are provided. To this end, in part, a method of controlling pressure in a medical fluid pump is provided. The method includes the steps of controlling a pump member acceleration during a first portion of a pump stroke and adaptively changing the pump member velocity during a second portion of the pump stroke.

Description

BACKGROUND OF THE INVENTION

The present invention generally relates to dialysis systems. More specifically, the present invention relates to automated peritoneal dialysis systems. The present invention also relates to methods of performing automated peritoneal dialysis and devices for performing same.

Due to disease, insult or other causes, a person's renal system can fail. In renal failure of any cause, there are several physiological derangements. The balance of water, minerals and the excretion of daily metabolic load is no longer possible in renal failure. During renal failure, toxic end products of nitrogen metabolism (urea, creatinine, uric acid, and others) can accumulate in blood and tissues.

Kidney failure and reduced kidney function have been treated with dialysis. Dialysis removes waste, toxins and excess water from the body that would otherwise have been removed by normal functioning kidneys. Dialysis treatment for replacement of kidney functions is critical to many people because the treatment is life saving. One who has failed kidneys could not continue to live without replacing at least the filtration functions of the kidneys.

Hemodialysis and peritoneal dialysis are two types of dialysis therapies commonly used to treat loss of kidney function. Hemodialysis treatment utilizes the patient's blood to remove waste, toxins and excess water from the patient. The patient is connected to a hemodialysis machine and the patient's blood is pumped through the machine. Catheters are inserted into the patient's veins and arteries to connect the blood flow to and from the hemodialysis machine. As blood passes through a dialyzer in the hemodialysis machine, the dialyzer removes the waste, toxins and excess water from the patient's blood and returns the blood back to the patient. A large amount of dialysate, for example about 120 liters, is used to dialyze the blood during a single hemodialysis therapy. The spent dialysate is then discarded. Hemodialysis treatment lasts several hours and is generally performed in a treatment center about three or four times per week.

Peritoneal dialysis utilizes a dialysis solution or “dialysate”, which is infused into a patient's peritoneal cavity through a catheter implanted in the cavity. The dialysate contacts the patient's peritoneal membrane in the peritoneal cavity. Waste, toxins and excess water pass from the patient's bloodstream through the peritoneal membrane and into the dialysate. The transfer of waste, toxins, and water from the bloodstream into the dialysate occurs due to diffusion and osmosis, i.e., an osmotic gradient occurs across the membrane. The spent dialysate drains from the patient's peritoneal cavity and removes the waste, toxins and excess water from the patient. This cycle is repeated.

There are various types of peritoneal dialysis therapies, including continuous ambulatory peritoneal dialysis (“CAPD”), automated peritoneal dialysis and continuous flow peritoneal dialysis. CAPD is a manual dialysis treatment, in which the patient connects an implanted catheter to a drain and allows a spent dialysate fluid to drain from the peritoneal cavity. The patient then connects the catheter to a bag of fresh dialysate and manually infuses fresh dialysate through the catheter and into the patient's peritoneal cavity. The patient disconnects the catheter from the fresh dialysate bag and allows the dialysate to dwell within the cavity to transfer waste, toxins and excess water from the patient's bloodstream to the dialysate solution. After a dwell period, the patient repeats the manual dialysis procedure.

In CAPD the patient performs several drain, fill, and dwell cycles during the day, for example, about four times per day. Each treatment cycle typically takes about an hour. Manual peritoneal dialysis performed by the patient requires a significant amount of time and effort from the patient. This inconvenient procedure leaves ample room for improvement and therapy enhancements to improve patient quality of life.

Automated peritoneal dialysis (“APD”) is similar to CAPD in that the dialysis treatment includes a drain, fill, and dwell cycle. APD machines, however, automatically perform three to four cycles of peritoneal dialysis treatment, typically overnight while the patient sleeps. The APD machines fluidly connect to an implanted catheter. The APD machines also fluidly connect to a source or bag of fresh dialysate and to a fluid drain.

The APD machines pump fresh dialysate from the dialysate source, through the catheter, into the patient's peritoneal cavity and allow the dialysate to dwell within the cavity so that the transfer of waste, toxins and excess water from the patient's bloodstream to the dialysate solution can take place. The APD machines then pump spent dialysate from the peritoneal cavity, though the catheter, to the drain. APD machines are typically computer controlled so that the dialysis treatment occurs automatically when the patient is connected to the dialysis machine, for example, when the patient sleeps. That is, the APD systems automatically and sequentially pump fluid into the peritoneal cavity, allow for a dwell, pump fluid out of the peritoneal cavity and repeat the procedure.

As with the manual process, several drain, fill, and dwell cycles will occur during APD. A “last fill” is typically used at the end of APD, which remains in the peritoneal cavity of the patient when the patient disconnects from the dialysis machine for the day. APD frees the patient from having to manually performing the drain, dwell, and fill steps.

However, continuing needs exist to provide improved APD systems. For example, needs exist to provide simplified APD systems that are easier for patients to use and operate. Further, needs exist to provide lower cost APD systems and APD systems which are less costly to operate. Particularly, needs exist to clinically, economically and ergonomically improve known APD systems.

APD systems need to be improved for home use. One common problem with current home systems is that they are susceptible to electrical shock due to “leakage current”. Current that flows from or between conductors insulated from one another and from earth is called “leakage current”. If any conductor is raised to a potential above earth potential, then some current is bound to flow from that conductor to earth. This is true even of conductors that are well insulated from earth, since there is no such thing as perfect insulation or infinite resistance. The amount of current that flows depends on: (i) the potential, (ii) the capacitate reactance between the conductor and earth and (iii) the resistance between the conductor and earth.

For medical equipment, several different leakage currents are defined according to the paths that the leakage currents take. An “earth leakage current” is the current which normally flows in the earth conductor of a protectively earthed piece of equipment. In medical equipment, impedance to earth from an enclosure is normally much lower through a protective earth conductor than it is through the patient. However, if the protective earth conductor becomes open circuited, the patient could be at risk of electrical shock.

“Patient leakage current” is the leakage current that flows through a patient connected to an applied part or parts. It can either flow from the applied parts via the patient to earth or from an external source of high potential via the patient and the applied parts to earth. Other types of leakage currents include “enclosure leakage current”, and “patient auxiliary current”.

Leakage currents are normally small, however, the amount of current required to produce adverse physiological effects in patients is also small. Accordingly, leakage currents must be limited as much as possible by the design of the equipment and be within safety limits.

SUMMARY OF THE INVENTION

Generally, the present invention provides improved dialysis systems and improved methods of performing dialysis. More particularly, the present invention provides systems and methods for performing automated peritoneal dialysis (“APD”). The systems and methods of the present invention automatically provide dialysis therapy by providing dialysis fluid to the patient and draining spent dialysis fluid from the patient.

Also, the systems and methods of the present invention can perform various dialysis therapies. One example of a dialysis therapy which can be performed according to the present invention includes an automatic dialysis fluid exchange of a patient fill, dwell and a patient drain. The dialysis system of the present invention can automatically perform dialysis therapy on a patient, for example, during nighttime while the patient sleeps.

To this end, in an embodiment a dialysis system is provided. The system includes a fluid supply line. A disposable unit is in fluid communication with the fluid supply line. The disposable unit has at least two flexible membranes that bond together at selected locations and to a rigid plastic piece or manifold. The membranes can be single or double layer. One preferred membrane material is described herein. The membranes seal to one another so as to define a fluid pump receptacle and a fluid heating pathway. The membranes and plastic manifold define a number of flexible valve chambers. The disposable unit also fluidly communicates with a patient line and a drain line.

The manifold and other areas of the disposable unit include reduced or tapered edges that provide an area to seal the membranes. The reduced thickness or tapered area requires less heat than the full thickness, which reduces the heat sinking disparity between the thickness of the manifold of the disposable unit and the thinner flexible membranes. The frame of the manifold is bowed or curved to provide rigidity. The frame is also asymmetrical and designed to be placed into the hardware unit in only one direction.

The hardware unit can be manually transported to a patient's home and opened so that the patient can place a disposable unit therein and closed so that the dialysis unit and the disposable unit cooperatively form a pump chamber that enables dialysis fluid to be pumped to and from the patient. The hardware unit has an enclosure that defines a pump shell, a valve actuator and a heater. The disposable unit is placed in and removed from the enclosure. The fluid pump receptacle of the disposable unit and the shell of the hardware unit form a pump chamber. The pump chamber operates with a pump actuator, which is also located inside the transportable hardware unit.

When packaged, a plurality of tubes extend from the disposable unit. The ends of the tubes have connectors that attach to a single body. The body defines or provides a plurality of tip protectors that hold the tubes in an order according to steps of the therapy. The body is configured to slide into the hardware unit of the system from one direction, so that a patient can readily pull the tubes and connectors from the tip protector organizer.

The tip protector used to house the patient fluid connector includes a hydrophobic filter that allows air but not fluid to escape. This vented tip protector enables the system to be primed without having to perform elevation balancing or controlled fluid metering. The system performs a prime by flowing fluid through the system and into the patient fluid line until the dialysate backs up against the filter, causing a fluid pressure increase, which is sensed by the system. The system then stops the pump.

The hardware unit also provides a controller. The controller includes a plurality of processors, a memory device for each processor and input/output capability. One of the processors coordinates operation of the pump actuator, the valve actuator and the heater with the various stages of dialysate flow, such as the fill, dwell and drain stages. The processor also controls or obtains feedback from a plurality of different types of sensors. The sensors include, among others, a capacitance fluid volume sensor, a dialysis fluid temperature sensor, a pressure sensor, a vacuum sensor, an air detection sensor and a mechanical positioning sensor.

In an embodiment, the system uses both preset motion control and adaptive pressure control to control the pressure of fluid within the pump receptacle. The system uses a preset pump motor acceleration to overcome system compliance (i.e., membrane and tubing expansion), which would not otherwise be readily overcome by known proportional, differential or integral control. After the system overcomes compliance, the system converts to an adaptive control using adaptive techniques for controlling pressure by precisely controlling the velocity of a pump motor shaft. The adaptive parameters are modified over time to fine tune the system. This method is especially important for the patient fill and drain cycles, wherein the patient can feel pressure fluctuations. The method also readily compensates for pressure variations due to bag height, bag fullness, etc.

The capacitance fluid volume sensor indicates a volume of fluid in the pump chamber, wherein the sensor generates a voltage signal that is indicative of the volume of fluid in the receptacle. The controller receives the voltage signal and converts the signal into an amount of fluid or an amount of air within the flexible fluid receptacle of the pump chamber.

The pump actuator can be mechanically or pneumatically operated. When mechanically driven, a pump motor drives a vacuum source, such as a piston-cylinder, which pulls a vacuum on the membranes of the fluid receptacle of the disposable unit. Here, a mechanical positioning sensor, such as an encoder, senses the angle of a pump motor shaft relative to a home position and sends a signal to the controller, wherein the controller can adjust the pump motor accordingly. The encoder also provides safety feedback to the controller, whereby the controller, once therapy starts, prevents the camshaft from rotating to a position where the valves can free fill the patient. When the pump actuator is pneumatically operated, the system in an embodiment uses a vacuum pump to pull apart the membranes of the fluid receptacle. Here, the system uses a vacuum sensor to sense the state of the vacuum pump and a mechanical sensing device, such as a linear encoder, to sense the state of a pump piston.

Thus, in an embodiment, the system maintains a negative pressure on one of the membranes of the fluid receptacle of the disposable unit to pull same away from the other membrane and draw dialysis fluid into the fluid receptacle. The negative pressure on the active membrane is then released, which pushes the membrane towards the other membrane and dispels the dialysis fluid from the pump receptacle. In another embodiment, a mechanical pump piston can be pneumatically attached to one of the membranes, wherein the system mechanically pulls the membrane away from the other membrane. In an embodiment, the membrane is coupled to the pump piston through negative pressure. The pump also includes a diaphragm that is pulled to a bottom side of the piston head, wherein the membrane is pulled to a top side of same. In a further embodiment, the system mechanically pushes one of the membranes while applying the negative pressure to same.

The system also performs other necessary tasks automatically. For example, the system automatically heats the dialysate to a desired temperature while pumping dialysate to the patient. The heater heats the fluid heating pathway defined by the flexible membranes of the disposable unit. In an embodiment, the heater includes an electrical heating plate. Alternatively, or in addition to the heating plate, the heater includes an infrared heating source. In an embodiment, the fluid heating pathway and the heater define an in-line heater that heats dialysate as it travels from the supply bag to the patient.

The system employs a method of heat control that uses a knowledge-based algorithm and a fuzzy logic based algorithm. The former uses laws of physics, empirical data and sensed inputted signals. The latter inputs a difference between desired and actual temperatures and uses fuzzy logic membership functions and fuzzy logic rules. Each algorithm operates at a different update frequency. Each algorithm outputs a duty cycle, wherein the system weights the fuzzy logic based duty cycle relative to the knowledge based duty cycle and produces an overall heater control duty cycle. This method enables accurate dialysate temperature control.

The system automatically purges air from the dialysate, for example, through the pump chamber. The system also senses a total volume of fluid pumped to the patient, records and logs same. Furthermore, the system knows the instantaneous flow rate and fluid pressure of fluid entering or leaving the patient's peritoneal cavity.

The disposable unit includes a valve manifold. The manifold defines a plurality of valve chambers. The hardware unit includes a valve actuator that selectively and sequentially presses against one or more of the valve chambers. In an embodiment, a mechanically operated valve actuator includes a single camshaft and a plurality of cams. The cams press against one of the membranes of the disposable unit to engage the other membrane and block or disallow fluid flow. As stated above, the system uses a sensing device, such as a rotary encoder, to sense the angle of the camshaft relative to a home position, so that the controller can rotate the camshaft to open or close one or more valves as desired. The single camshaft toggles back and forth between: supply and pump chamber fill positions; patient drain and system drain positions; and between pump chamber fill and patient fill positions. These positions are actuated by a unique rotational position on an overall cam profile (i.e., the superposition of each of the individual cams as seen from the end of the camshaft).

The disposable unit of the present invention is provided in a variety of different forms. In an embodiment, the portion of the disposable unit forming the heating path is formed by the same membranes that seal to the rigid member or manifold that forms the valve chambers. The same membranes also form the pump receptacle. In another embodiment, the disposable unit includes a first set of membranes that form the pump receptacle and the valve manifold via the rigid member. Here, the disposable unit includes a second set of membranes, distinct from the first membranes, which form the fluid heating path. In an embodiment, medical grade tubing connects the first set of membranes to the second set. In particular, the tubing enables the fluid heating path to fluidly connect to the valve manifold.

The disposable unit in another embodiment includes a first flexible membrane and a second flexible membrane that house the pump receptacle, the fluid heating path and the rigid valve manifold. The disposable unit also includes a rigid frame that attaches to at least one of the first and second flexible membranes. The rigid frame enables a patient or operator to place the frame and the disposable unit into the enclosure of the hardware unit of the automated dialysis system. The rigid frame is sized to securely fit into a dedicated place in the enclosure. The rigid frame further holds the disposable unit stable while the patient or operator connects tubes to same. For example, the valve manifold provides ports or other types of connectors for connecting to a supply line, a drain line and a patient line. In an embodiment, the rigid frame extends around or circumvents the membranes including the pump receptacle, fluid heating path and valve manifold. In an embodiment, the rigid frame is plastic. In an embodiment, the rigid frame is bowed along at least two sides to increase the rigidly of the disposable unit and to keep the disposable unit from deforming during the heat sealing portion of its manufacture.

In an embodiment, the rigid member or manifold of the disposable unit includes interfaces that allow the membranes to be more easily sealed to the manifold. The manifold edges are tapered to reduce the heat needed to form a cohesive bond between the membranes and the plastic valve manifold. The knife-like tapered edges also reduce or eliminate the gap between the top and bottom membranes, which minimizes the opportunity for leaks to occur in the disposable unit. The chamfered edges also reduce the likelihood that the heat sealing process will burn through the membranes.

The hardware unit described above includes a display device that provides dialysis system information. The display device also enables the patient or operator to enter information and commands into the controller. For example, the display device can include an associated touch screen that enables the patient or operator to initiate automatic flow of the dialysate through the disposable unit. The system begins to pneumatically and/or mechanically pump dialysate through the pump chamber, past the in-line heater and into the patient's peritoneal cavity. Thereafter, the system automatically runs the other cycles of dialysis therapy, for example, while the patient sleeps and/or at night. The automated system not only transfers dialysate from a supply container to the patient, the system allows the dialysate to dwell inside the patient for an amount of time and automatically operates to transfer the dialysate from the patient to a drain.

The system provides a graphical user interface (“GUI”). The GUI in an embodiment employs an embedded web browser and an embedded web server. The web browser and server operate on a main microprocessor for the system. The GUI also employs instrument access and control software, which operates on the main system processor and on one or more delegate processors. The instrument access and control software controls lower level devices, such as the heater and the pump. The GUI also provides intermediate software that allows the web browser to communicate with the instrument access and control software.

The GUI displays a number of therapy set-up screens and a number of dialysis treatment screens. The set-up screens generally walk the patient through the set-up portion of the therapy. The system waits for an operator input before proceeding to the next set-up screen. The set-up screens provide information to the patient in the form of real-life images of the equipment and through animations of the actions needed to connect the system to the patient.

The therapy treatment screens display the various cycles of the therapy to the patient in real-time or substantially in-real time. The therapy treatment screens display information such as cycle time in both a graphical and quantitative manner. The therapy treatment screens do not require input from a patient, who may be sleeping while these screens are displayed. When the therapy is complete, the system once again displays a number of disconnection screens which, like the set-up screens, wait for an input from the patient before performing an action.

The treatment screens are colored and lighted for night time viewing, and may be easily seen from a distance of about ten to fifteen feet, however, the screens are lighted so as not to wake a sleeping patient. In an embodiment, the background of the screens is black, while the graphics are ruby red. In contrast, the set-up screens are lighted and colored for daytime viewing.

With the above embodiments, one advantage of the present invention is to provide improved systems and methods for performing dialysis.

Another advantage of the present invention is to provide improved systems and methods for performing peritoneal dialysis.

A further advantage of the present invention is to provide an automated peritoneal dialysis system and method of operating same.

Still another advantage of the present invention is to provide an automated peritoneal dialysis system that provides dialysis therapy advantages.

Still a further advantage of the present invention is to provide an automated peritoneal dialysis system that has economic advantages.

Yet another advantage of the present invention is to provide an automated peritoneal dialysis system that has quality of life advantages.

A still further advantage of the present invention is to provide a disposable unit having bowed sides, which increase rigidity and decrease flexing of disposable unit.

Moreover, an advantage of the present invention is to provide a disposable unit having tapered interfaces that decrease the heat sinking of the semi-rigid manifold and provide a more robust seal.

Various features and advantages of the present invention can become apparent upon reading this disclosure including the appended claims with reference to the accompanying drawings. The advantages may be desired, but not necessarily required to practice the present invention.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 schematically illustrates an embodiment of an automated dialysis system of the present invention having a mechanically actuated fluid pump.

FIG. 2 schematically illustrates another embodiment of an automated dialysis system of the present invention having a fluidly actuated fluid pump.

FIGS. 3A and 3B illustrate perspective views of the hardware unit and disposable unit of the present invention.

FIG. 4A is a plan view of one embodiment of the hardware and disposable units of the present invention.

FIG. 4B is a cross-sectional view taken alongline4B—4B inFIG. 4A, which shows one possible configuration of the system components within the hardware unit.

FIGS. 5 and 6 illustrate additional embodiments of the disposable unit of the present invention.

FIG. 7 is a perspective view of one embodiment of a valve manifold that includes a reduced thickness interface for sealing to membranes of a disposable dialysis unit.

FIG. 8 is a perspective view of one embodiment of a multiple tip protector organizer of the present invention.

FIG. 9 is an elevation sectional view of the multiple tip protector organizer illustrated in FIG.8.

FIG. 10 is an elevation sectional view of one embodiment of a vented tip protector of the present invention showing the tip protector housing a patient fluid line connector.

FIG. 11 is an elevation sectional view of one embodiment of the patient fluid line connector that couples to the vented tip protector of the present invention.

FIG. 12 is an elevation sectional view of one embodiment of the vented tip protector of the present invention.

FIG. 13 is a sectional view of one embodiment of a single layer film structure for the disposable unit membranes of the present invention.

FIG. 14 is a sectional view of one embodiment of a multiple layer film structure for the disposable unit membranes of the present invention.

FIG. 15 is a perspective view of one embodiment of a valve actuator in combination with the fluid manifold of the present invention.

FIGS. 16A and 16B illustrate features of the camshaft and cam arrangement of the present invention.

FIGS. 17A and 17B illustrate an embodiment of a mechanically operated fluid pump and capacitance type fluid volume sensor of the present invention.

FIG. 18 illustrates an alternate embodiment of a fluidly operated fluid pump and capacitance sensor of the present invention.

FIG. 19 is a graphical illustration of one embodiment of the present invention for the control of the pressure inside a fluid pump through precise velocity control of a pump piston.

FIG. 20 is a schematic illustration of one embodiment of an algorithm of the present invention for performing proportional, integral and derivative type adaptive pressure control.

FIG. 21 is a graphical illustration of one embodiment of the present invention for the control of the pressure inside a fluid pump during repeated patient fill and pull from supply bag strokes.

FIG. 22 is a graphical illustration of one embodiment of the present invention for the control of the pressure inside a fluid pump during repeated patient drain and pump to drain strokes.

FIG. 23 is a schematic illustration of one embodiment of an algorithm of the present invention for adapting pressure error correction parameters over time to optimize pressure control efficiency.

FIG. 24 is a table illustrating one set of the correction parameters illustrated in connection with FIG.23.

FIG. 25 is a schematic representation of one embodiment of a heater control method of the present invention.

FIG. 26 is a flow diagram of a knowledge based algorithm of the method discussed in connection with FIG.25.

FIG. 27 is a flow diagram of a fuzzy logic based algorithm of the method discussed in connection with FIG.25.

FIG. 28 is an electrical insulation diagram illustrating one embodiment for providing double electrical insulation in the medical fluid unit of the present invention.

FIG. 29 is a schematic representation of one embodiment of the web based graphical user interface of the present invention.

FIGS. 30A to30M are screen shots from a display device employing the graphical user interface of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to dialysis systems and methods of performing dialysis. In particular, the present invention relates to a system and method for automatically providing peritoneal dialysis therapy to patients. The present invention provides automatic multiple exchanges of dialysis fluid to and from the patient's peritoneal cavity. The automatic exchanges of dialysate include drain, fill, and dwell periods, which usually occur while the patient sleeps. A typical therapy can include three to five exchanges of dialysis fluid. The present invention, in an embodiment, provides a single pass system, wherein the dialysate passes through the peritoneal cavity only once before being disposed. While the present invention performs peritoneal dialysis, it is also suitable for other types of dialysis and other medical fluid transfer operations.

I. The System Generally

Referring now to the drawings and in particular toFIG. 1, a typical therapy performed by thesystem10 of the present invention begins by draining dialysis solution that is already in the patient'speritoneal cavity12. Thesystem10 pumps fresh dialysate from one of a plurality ofsupply bags14, through an in-line heater16 to the patient orperitoneal cavity12. After a dwell period in theperitoneal cavity12, the spent dialysate in the cavity is pumped out of the patient orcavity12 to adrain18 or other disposal means. Thesystem10 then pumps fresh dialysate from thesupply bags14 to the patient orperitoneal cavity12 and the procedure is repeated as defined in the therapy protocol. Thesystem10 in an embodiment pumps a last bag of dialysate (usually, a dialysate having a different formulation than the dialysate in the other supply bags) to theperitoneal cavity12 for an extended dwell, such as a daytime dwell.

In an embodiment, thesystem10 includes a mechanically operateddiaphragm pump20. The mechanically operateddiaphragm pump20 employs apump motor22 and alinear pump actuator24. A vacuum may also be used with the mechanical actuator for thediaphragm pump20, as described in further detail below. In another embodiment illustrated inFIG. 2, the pump is completely fluidly activated.

InFIG. 1 thesystem10 also includes avalve actuator26, which mechanically actuates valves V1 to V5. Acontroller30 controls thevalve actuator26 to open valves V1 to V5 as necessary to achieve the desired direction of dialysate fluid flow. In an embodiment, thevalve actuator26 includes avalve motor28 and a camshaft (illustrated below), which opens one or more of the valves V1 to V5 to achieve the desired dialysate flow.

Thecontroller30 includes a plurality of processors and a memory device for each processor. The processors include a main microprocessor and a number of delegate processors. The main microprocessor runs certain higher level tasks such as the graphical user interface (“GUI”) described below. The delegate processors perform lower level tasks, such as moving valves, reading sensors, controlling heater duty cycle, etc. An additional processor is provided solely for the purpose of tracking safety parameters, such as heater plate and medical fluid temperature. For purposes of the present invention, except where otherwise specified, the term “processor34” refers collectively to all of the processors and the term “memory device32” refers collectively to all of the corresponding memory devices.

Thecontroller30 also includes an input/output (“I/O”)module36. Thememory device32 stores a computer program that contains a step by step sequence for thesystem10 and configures certain outputs to occur upon specified inputs. Theprocessor34 runs the program in thememory device32. The I/O module36 accepts signal lines from various sensors. The I/O module36 also connects to power lines including input power lines (including if battery powered) and power lines outputted to the various electrical components.

Thecontroller30, in an embodiment, includes avideo controller38, which may be a video card. Thecontroller30 also includes a display device or video monitor40 that displays medical treatment or dialysis information to a patient or operator. In an embodiment, thecontroller30 further includes atouch screen42 that interfaces with thevideo monitor40 and electrically communicates with the I/O module36. Thetouch screen42 enables the patient or operator to input medical treatment or dialysis information into thecontroller30.

Thecontroller30 controls theheater16, thepump20 and thevalve actuator26 in a number of different phases that make up a single medical or dialysis treatment. In a first pump fill phase,controller30 activates thepump20 to pump medical fluid or dialysate from one of thesupply bags14. InFIG. 1, thecontroller30 commands avacuum source44, including anair pump motor46, to pull a vacuum on both sides of thepump20 through afirst vacuum line48 and asecond vacuum line50. The vacuum lines48 and50 pull respective vacuums through first and second pump chamber walls to suction one of a pair of opposing membranes inside the pump chamber against the interior of the pump chamber. The other membrane is held against a piston head in thepump20. The other membrane alternatively temporarily or permanently mechanically attaches to the piston head, rendering the vacuum on the piston side of thepump20 unnecessary.

With the membranes maintained against the interior of the pump chamber and the piston head, thecontroller30 commands thelinear actuator24 to withdraw within thepump20. The withdrawal causes the membranes inside the pump chamber to pull further apart. At this time, thecontroller30 controls thevalve actuator26 so that only valve V1 is open. The pulling apart of the membranes causes a negative pressure to occur infill line52, wherein the negative pressure pulls medical fluid or dialysate from thesupply bag14, through thefill line52, into a receptacle created by the opened membranes inside the pump chamber ofpump20.

In a patient fill phase, with the negative pressure still maintained by thevacuum source44, through the pump chamber walls, on the interior membranes, thecontroller30 causes thelinear pump actuator24 to move upwards within thepump20. The upward movement of theactuator24 and an attached piston head provides a positive mechanical pressure that closes the membrane receptacle and thereby pumps the medical fluid out of thepump20. At this time, thecontroller30 controls thevalve actuator26 so that only valves V2 and V3 are open. Consequently, all of thefluid exiting pump20 is pumped through aheater line54, past the in-line heater16, through acatheter line56, and into the patient, for example, the patient'speritoneal cavity12. Thecatheter line56 in an embodiment connects to a single lumen catheter, which is implanted into thepatient12. Although, in other embodiments, thesystem10 can employ a multi-lumen catheter.

Theheater16 in an embodiment includes one or more electrical heating plates, which heat the medical fluid to roughly body temperature. Thecontroller30 energizes and de-energizes theheater16 as necessary to obtain the proper fluid temperature. Thecontroller30 can close valves V2 and V3, located on opposing sides of theheater16 in theheater line54, if the medical fluid is too hot or too cold. The improperly heated dialysate does not enter theperitoneal cavity12.

Thecontroller20 repeats the pump fill phase and the heater fill phase until the patient'speritoneal cavity12 becomes full of fluid according to the therapy protocol. In an embodiment, the volume inside the pump is about thirty to fifty milliliters, and an adult patient typically uses about two liters of dialysis fluid. Accordingly, the pump fill phase and the heater fill phase can be repeated on the order of fifty times. In an embodiment, thepump actuator24 maintains a fluid pressure at thepump20 of about three pounds per square inch (“psi”).

Thesystem10 provides afluid volume sensor60, which measures the actual volume of medical fluid that has been forced through thepump20. By summing multiple individual pump volumes, the controller accurately knows how much medical fluid or dialysate has been delivered to thepatient12. Thesystem10 in an embodiment repeats the pump fill phase and the heater fill phase until thepump20 has delivered a predetermined volume of medical fluid. The predetermined volume can be inputted into thecontroller30 by a patient or operator via thetouch screen42.

In a dwell phase, thecontroller30 lets the medical fluid or dialysate remain within thepatient12 for an amount of time, which can be controlled by thecontroller30, the patient12 or an operator. In an embodiment, thecontroller30 determines the dwell time, but the patient12 or operator can override thesystem10 and command that thesystem10 remove the medical fluid from thepatient12.

In a second pump fill phase, the medical fluid is removed from thepatient12. Thecontroller30 and theactuator26 open valve V4, while shutting the remaining valves. With the vacuum source still maintaining a negative pressure on the membranes inside thepump20, thelinear actuator24 withdraws the pump piston within the chamber ofpump20 and reopens the receptacle between the membranes. The negative pressure created by the opening receptacle pulls the medical fluid from thepatient12, through thecatheter line56 and into the membrane receptacle formed inside thepump20.

In a drain phase, with the negative pressure still maintained by thevacuum source44, through the pump chamber walls, on the interior membranes, thecontroller30 causes thelinear pump actuator24 to move upwardly within thepump20. The upward movement of theactuator24 causes a positive mechanical pressure to close the membrane receptacle and thereby pump the medical fluid out of thepump20. At this time, thecontroller30 controls thevalve actuator26 so that only valve V5 is open. Consequently, all of thefluid exiting pump20 is pumped through adrain line58 and into thedrain18.Drain18 can be a drain bag or a drain pipe inside a home, a hospital or elsewhere.

One embodiment of thefluid volume sensor60 is described in more detail below in connection with the description of thediaphragm pump20. Besides thefluid volume sensor60, thesystem10 includes various other desired types of sensors.

Thesystem10 includestemperature sensors62, such as the sensors T1 to T4, which measure the temperature at relevant places within thesystem10. In an embodiment, thesensors62 are non-invasive, however, any other types of temperature sensors may be employed. As illustrated inFIG. 1, sensors T1 and T2 provide redundant post heater feedback of the fluid temperature to thecontroller30. Sensor T3 provides a temperature of the medical fluid prior to heating. Sensor T4 provides the ambient temperature.

Thesystem10 also providestemperature sensors62 that monitor the temperature of theheater16. In an embodiment, theheater16 is an in-line plate heater. The in-line plate heater16 can have one or more heater plates, for example, two heater plates having a disposable unit placed between same. Separate temperature sensors PT1 and PT2 are provided to monitor the temperature of each of the plates of the plate heater. Thesystem10 can thereby control each plate heater individually.

Thesystem10 includes one ormore air sensors64, such as the sensor AS1, placed directly at the throat of the inlet and outlet of thepump20. Another air sensor AS2 monitors air in the medical fluid after it leaves theheater16 and just before the final shut-off valve V3 leading to thecatheter line56. Thecontroller30 monitors the air content sensed by theair sensors64 and thereby controls thesystem10 to perform any necessary air purge. Thesystem10 can separate and discharge the air from the fluid or simply convey the air to thedrain18. Thesystem10 also includes anair vent solenoid66, which is operated by thecontroller30. Theair vent solenoid66 enables thesystem10 to relieve the vacuum applied to one or both of the membranes in thepump20.

Thesystem10 can accumulate air for various reasons. For example, the valves V1 to V5 and fluid lines, such aslines52,54,56 and58 may contain air prior to priming thesystem10. Thesupply bags14 may also introduce air into thepump20. The patient12 can also produce certain gasses, which become entrained in the dialysate and enter thepump20. Further, if minor leaks exist in the fluid disposable or the connections to thesupply bag14, the catheter at thepatient12, or the drain bag, thepump20 can draw air in through the leaks.

Thesystem10 provides variousfluid pressure sensors68. Fluid pressure sensors FP1 and FP2 provide a redundant pressure reading of the fluid in thefill line52 leading to thepump60. Thefluid pressure sensors68 provide a signal to thecontroller30 that indicates the respective fluid pressure at that location. Based on the signals from the pressure sensors FP1 and FP2, thecontroller30 operates the fluid pumps and valves to obtain and maintain a desired fluid pressure. As stated above, thesystem10 maintains the pump pressure, for example, at about three psi.

Thesystem10 also provides variousvalve pressure sensors70. Valve pressure sensors VP1 to VP5 detect the fluid pressure at the valves V1 to V5. Thesystem10 further provides one or morevacuum pressure sensors72, for example, at thevacuum source44, to ensure that a proper vacuum is maintained on the membrane receptacle within thepump20.

In an embodiment, the fluid pressure, valve pressure andvacuum sensors68,70 and72, respectively, are non-invasive sensors. That is, the sensors do not physically contact (and possibly contaminate) the medical fluid or dialysate. Of course, thesystem10 can include other flow and pressure devices, such as flow rate sensors, pressure gauges, flowmeters, or pressure regulators in any suitable quantity and at any desired location.

Thesystem10 also includes various positioning sensors. In an embodiment, the positioning sensors include alinear encoder74 that monitors the position of thelinear pump actuator24 and arotary encoder76 that monitors the angular position of thevalve actuator26 or camshaft. An encoder is one type of positioning feedback device that can be employed. Other types of positioning feedback systems include proximity sensors and magnetic pick-ups that sense a pulse, e.g., a gear tooth of a gear attached to the camshaft, and output the pulse to a counter or microprocessor.

Theencoders74 and76 also typically provide a pulsed output, which is sent to thecontroller30. The pulsed output tells thecontroller30 how many steps or how far thelinear pump actuator24 or thevalve actuator26 is from a home position orhome index78. For example, thehome position78 can be the pump fully open or pump fully closed position for thelinear encoder74 and the zero degree position for therotary encoder76.

In an embodiment, theencoders74 and76 are absolute type encoders that know the location of thehome position78 even after a power loss. In another embodiment, theencoders74 and76 are incremental encoders and a battery back-up is provided to the controller so that thesystem10 can maintain the location of thehome position78 even when no external power is applied. Further alternatively,system10 can be programmed to automatically move thepump actuator24 and thevalve actuator26 upon power-up until a home position is sensed, wherein thesystem10 can begin to run the main sequence.

Referring now toFIG. 2, analternative system100 is illustrated. Thesystem100 includes many of the same components having the same functionality (and the same reference numbers) as previously described. These components therefore do not need to be described again except to the extent that their functioning with the new components ofsystem100 differs. The primary difference between thesystem100 and thesystem10 is that thepump120 of thesystem100 is completely fluidly actuated and does not use thelinear pump actuator24 of thesystem10.

In the pump fill phases, described above, thecontroller30 activates thepump120 to pump medical fluid or dialysate from one of thesupply bags14. To do so, thecontroller30 commands vacuum source44 (shown separately frommotor46 in FIG.2), including avacuum pump motor46, to pull a vacuum on both sides of thepump120, i.e., on both pump membranes, throughvacuum lines148 and149. Thevacuum pump motor46 in this embodiment includes arotary encoder76 and a home position orhome index78. Therotary encoder76 provides positional feedback of amember150 within thevacuum source44. Thesystem100 therefore knows if thevacuum source44 can provide any additional suction or if themember150 has bottomed out within thevacuum source44.

To draw in medical fluid, thevacuum line148 pulls a vacuum through first and second pump chamber walls to the pair of opposing membranes inside the pump chamber. The vacuum pulls the membranes against the interior of the pump chamber. At this time, thecontroller30 controls thevalve actuator26 so that only valve V1 is open. The pulling apart of the membranes causes a negative pressure to occur infill line52, wherein the negative pressure pulls medical fluid or dialysate from thesupply bag14, through thefill line52, into a receptacle created by the volume between the membranes inside the pump chamber ofpump120.

In an alternative embodiment, thepump120 maintains a constant vacuum on one of the membranes, wherein the opposing membrane does the pumping work. To pump fluid out, the vacuum on one or both membranes is released. The membranes, which have been stretched apart, spring back to a closed position. This operation is described in detail below.

Thesystem100 also includes a slightly different valve manifold than thesystem10. Thesystem100 includes one less valve than thesystem10, wherein thesystem100 does not provide an extra valve (V3 in system10) directly after thefluid heater16. Obviously, those of skill in the art can find many ways to configure the valves and fluid flow lines of thesystems10 and100. Consequently, the configuration of the valves and fluid flow lines of thesystems10 and100 as illustrated merely represent practical examples, and the present invention is not limited to same.

II. Hardware Unit and Disposable Unit

Referring now toFIGS. 3A,3B,4A and4B, bothsystems10 and100 include ahardware unit110 and adisposable unit160. Thehardware unit110 in an embodiment is portable and can be transported to and from a person's home. Thehardware unit110 includes ahousing112 that includes abase114 and alid116. In an embodiment, thelid116 is hinged to thebase114. Alternatively, thelid116 is completely removable from the base. Thelid116 in either case opens to provide access to the interior of thehousing112, so as to allow the patient or operator to place and remove thedisposable unit160 into and from thehardware unit110. Thehardware unit110 can be made of any protective, hard, resilient and/or flexible material, for example, plastic or metal sheet, and can have a decorative and/or finished surface.

Once thedisposable unit160 is placed inside thehardware unit110, the operator closes thelid116 and uses one or more locking or latching mechanism118 (FIG. 3B) to safely house thedisposable unit160 within thehardware unit110.FIG. 4A illustratesmembers119 of thehousing112 to which thelatching mechanism118 of thelid116 attaches. Thehardware unit110 displays thevideo monitor40, which can have an associatedtouch screen42 to input commands as described above. Alternatively, or in addition to thetouch screen42, thehardware unit110 can provide one or more electromechanical switches orpushbuttons43,124,125 and127, analog controls122 and/or lighted displays. The pushbuttons or switches43,124,125 and127 andknob122 enable the patient or operator to input commands and information into thesystems10 and100. The video monitor40 providesmedical treatment information126 to the patient or operator.

FIG. 3B illustrates one set of dimensions for thehardware unit110 of the present invention. The size and weight of the present invention are less than previous automated dialysis system. This feature belies the portability and ease of use of thesystem10,100 of the present invention. The size and weight enable thehardware unit110 to be shipped economically by standard overnight courier services. In the event that thesystem10,100 of the present invention breaks down, a replacement unit can be economically shipped to the patient in time for the next therapy.

Thehardware unit110 in an embodiment is approximately 23 to 30 cm high and deep and in one preferred embodiment, as illustrated, about 25 cm high and deep. Thehardware unit110 in an embodiment is approximately 32 to 40 cm wide and in one preferred embodiment, as illustrated, about 34 cm wide. The internal volume of theunit110 is therefore about 17,000 cm³to about 36,000 cm³, and in one preferred embodiment, approximately 21,250 cm³(1310 in³).Section view4B aptly illustrates the many components maintained within this compact space and the efficient use of same. All these components and thehardware unit110 have a total mass of about six to nine kilograms (kg) and in one preferred embodiment about seven kilograms.

FIGS. 3A to4B also illustrate that the architecture, configuration and layout of thehardware unit110 provides an automated system that is also convenient to use. The components of thesystem10,100 with which the patient must interact are placed on the top, front and sides of theunit110. The flow control components are placed below theheater116, which is placed below the disposable unit loading station. Themonitor40 and controls43,122,124,125 and127 are placed in the front of theunit110.

Thehardware unit110 contains thepump20 or120 and thelinear pump actuator24 ifsystem10 is employed. Thehardware unit110 also contains thevalve actuator26 including thevalve motor28, the in-line heater16, the various sensors, thevacuum source44 including theair pump motor46 and thecontroller30 as well as the other hardware described above.FIG. 4B illustrates that one of the pump chamber walls of thepump20 or120 is disposed in thelid116 of the housing. InFIG. 4B, theheater16 is disposed in thebase114 of thehousing112. Alternatively or additionally, the heater may be placed in thelid116. The base114 also contains the opposing pump chamber wall.

Referring now toFIGS. 3A,4A,4B,5 and6, various embodiments of thedisposable unit160 are illustrated. In each of the embodiments, thedisposable unit160 includes a pair of flexible membranes, including an upperflexible membrane162 and a lowerflexible membrane164. Thedisposable unit160 ofFIG. 6 includes two pairs of flexible membranes, namely,membrane pair166 andmembrane pair168. Each of the membrane pairs166 and168 also includes the upperflexible membrane162 and the lowerflexible membrane164.

Theflexible membranes162 and164 can be made of any suitable sterile and inert material, such as a sterile and inert plastic or rubber. For example, themembranes162 and164 can be buna-N, butyl, hypalon, kel-F, kynar, neoprene, nylon, polyethylene, polystyrene, polypropylene, polyvinyl chloride, silicone, vinyl, viton or any combination of these. One preferred material for the flexible membrane is described below in connection withFIGS. 13 and 14.

Themembranes162 and164 are sealed together in various places to create fluid flow paths and receptacles between themembranes162 and164. The seals are heat seals, adhesive seals or a combination of both.FIGS. 3A,4A,5 and6 illustrate that a generallycircular seal170 creates a substantially circularfluid pump receptacle172 between themembranes162 and164. Thepump receptacle172 operates with the fluid pumps. Instead of theseal170, one alternative embodiment is for thebase114 andlid116 to press the membranes together to form the seal.FIGS. 4A and 5 illustrate that in an embodiment, thedisposable unit160 provides asecondary seal174 to protect thesystems10 and100 in case theprimary seal170 leaks or degrades during use.

FIGS. 3A,4A and4B illustrate that thefluid pump receptacle172 fits between the clamshell shapes of thepumps20 and120 in thelid116. The clamshell shapes defined by thebase114 andlid116 of thehardware unit110 together with thefluid pump receptacle172 form the pump chamber of thepumps20 and120 of the present invention. The clamshell shapes in thebase114 andlid116 include one or more ports with which to draw a vacuum on themembranes162 and164. In this manner, themembranes162 and164 are pulled towards and conform to the clamshell shapes in thebase114 andlid116 and thereby create a negative pressure inside thereceptacle172 that pulls medical fluid from asupply bag14 located outside thehardware unit110, into thereceptacle172.

FIGS. 3A,4A,5 and6 illustrate that a generally rectangular,spiral seal178 creates aspiral heating path180 between themembranes162 and164. Thefluid heating path180 runs from avalve manifold190, through the spiral section, and back to thevalve manifold190.FIG. 4A illustrates that thefluid heating path180 fits between the heating plates of theheater16, which reside in thebase114 andlid116 of thehardware unit110. Providing a heat source on either side of thefluid heating path180 enables the medical fluid to be quickly and efficiently heated. In alternative embodiments, however, theheater16 can include only a single heater on one side of thefluid heating path180 defined by thedisposable unit160 or multiple heaters on each side of thedisposable unit160.

The upper andlower membranes162,164 are attached to thedisposable unit160 utilizing heat sealing techniques as described herein. Themembranes162 and164 are expandable so that when thedisposable unit160 is placed between a predefined gap between the upper and lower plates of theheater16, themembranes162 and164 expand and contact the heater plates. This causes conductive heating to take place between the plates of theheater16 and themembranes162,164 and between the membranes and the medical fluid. The predefined gap is slightly larger than the thickness of thedisposable unit160. Specifically, when dialysate moves through thefluid heating path180 of thedisposable unit160, themembranes162,164 of the spiral woundfluid heating pathway180 expand between thespiral seal178 and touch the plates of theheater16.

A. Separate Sets of Membranes

Thedisposable unit160 ofFIG. 6 is similar to thedisposable units160 ofFIGS. 3A through 5. The in-linefluid heating path180, however, is placed in aseparate membrane pair166 from thefluid pump receptacle172 and thevalve manifold190, which are placed in aseparate membrane pair168. A pair offlexible tubes182 and184, which can be any suitable medical grade tubing, fluidly connect thevalve manifold190 to thefluid heating path180. Thetubes182 and184 can be connected to the membrane pairs166,168 by any desired means, such as, heat sealing, bonding, press-fitting or by any other permanent or removable fluid connection. When placed in thehardware unit110, theheater16 heats each side of theheater membrane pair166, as in the other embodiments.

Separating thefluid heating path180 from thefluid pump receptacle172 and thevalve manifold190 enables the membranes of the respective pairs to be made of different materials. It is desirable that themembranes162 and164 of theheating pair166 conduct or radiate heat efficiently. On the other hand, it is desirable that themembranes162 and164 of thefluid flow pair166 withstand the forces of suction and mechanical actuation. It may therefore be desirable to use dissimilar materials for themembrane pair166 and themembrane pair168.

Themembrane pair166, defining the heaterfluid flow path180, additionally defines alignment holes176 that align with pegs protruding from the base114 or thelid116 of thehardware unit110. Each of the embodiments of thedisposable unit160 disclosed herein may be adapted to include alignment holes176, which aid the patient or operator in properly placing thedisposable unit160 within thehousing112 of thehardware unit110.

B. Rigid Frame and Bowed Sides

As shown inFIGS. 3A,4A and5, each of the embodiments of thedisposable unit160 disclosed herein may also be adapted to provide a rigid or semi-rigid member orframe186, which in an embodiment, surrounds or substantially circumscribes themembranes162 and164 of thedisposable unit160. In an embodiment, the rigid member orframe186 is made of a sterile, inert, rigid or semi-rigid plastic, for example, from one of or a combination of the plastics listed above for themembranes162 and164. Theframe186 aids the patient or operator in properly placing thedisposable unit160 within thehousing112 of thehardware unit110.

In an embodiment, thehousing112 defines a pin or guide into which theframe186 of thedisposable unit160 snugly fits.FIG. 5 illustrates that theframe186 defines anaperture161 that fits onto the pin or guide of thehousing112. Theframe186 can provide a plurality of apertures, such as theaperture161, which fit onto a like number of pins or guides provided by thehousing112.FIG. 5 also illustrates that theframe186 includes an asymmetrical member orchamfer163. Thechamfer163 forms an angle, such as forty-five degrees, with respect to the other sides of theframe186. Thehousing112 defines or provides an area into which to place thedisposable unit160. The area has the asymmetrical shape of theframe186 or otherwise provides guides that only allow theunit160 to be placed in thehousing112 from a single direction. Thechamfer163 and the cooperatinghousing112 ensure that when the patient places thedisposable unit160 in thehousing112, the bottom of thedisposable unit160 is placed in thehousing112 and the fluid inlets/outlets196 face in the proper direction.

As discussed above, thedisposable unit160 includes avalve manifold190. In an embodiment, thevalve manifold190 is made of a rigid or semi-rigid plastic, such as, from one of or a combination of the plastics listed above for themembranes162 and164. Thevalve manifold190 is covered on either side by the upper andlower membranes162 and164 to thereby create a sealed and inert logic flow path for thesystems10 and100.

InFIG. 5, the manifold190 definesholes192 andslots194. Theholes192 define the location of the valves, for example, valves V1 to V5 of thesystem10. Theslots194 define the fluid flow paths from the valves to thefluid pump receptacle172, thefluid heating path180 or to fluid inlets/outlets196. The fluid inlets/outlets196 individually lead to thesupply bag14, thecatheter line56, thepatient12 and thedrain18. The fluid inlets/outlets196 may have various configurations and orientations, as contrasted by FIG.3A. Thedrain196 may also be adapted to connect to an external flexible tube via a method known to those of skill in the art.

In an embodiment, the rigid orsemi-rigid frame186 includes bowedsides187 and189, as illustrated in FIG.5. The bowed sides187 and189 are formed with theframe186 before themembranes162 and164 heat seal or adhesively seal to theframe186 andmanifold190. Theframe186 and bowedsides187 and189 can be extruded plastic or plastic injection molded. Theframe186 can include as little as one bowed side, any number less than all, or have all sides be bowed.

In the illustrated embodiment, thesides187 and189 bow outward although they can alternatively bow inward. In a preferred embodiment, the sides are bowed in a direction of the plane of theframe186 of thedisposable unit160. The bowed sides187 and189 increase the rigidity of theframe186 and thedisposable unit160. The disposable unit is accordingly more easily placed in thehousing112 of thehardware unit110. The bowed sides187 and189 reduce the amount of flexing or distortion of theframe186 due to heat sealing or mechanicallypressing membranes162 and164 onto theframe186 andmanifold190.

C. Heat Seal Interface

Referring now toFIG. 7, an embodiment for heat sealing themembranes162 and164 to the manifold190 is illustrated. In an embodiment, the manifold190 is made of a rigid or semi-rigid plastic material as described above. Heat sealing themembranes162 and164 to thesemi-rigid manifold190, which in an embodiment is an injection molded component, requires different processing parameters than heat sealing theindividual membranes162 and164 together, for, example, atseal170 of thefluid pump receptacle172. In particular, heat sealing themembranes162 and164 to the manifold190 can require more heat, more pressure and more heating time. The semi-rigid orrigid manifold190 is appreciably thicker than theindividual membranes162 and164. Consequently, relative to the thin membranes, thethicker manifold190 acts as a heat sink. The bond between the thin membrane andthicker manifold190 therefore requires more heat or energy than the heat seal bond between thethin membranes162 and164.

As illustrated inFIGS. 3A,4A,5 and6, thedisposable unit160 requires both membrane to manifold and membrane to membrane seals. It is desirable to heat seal the entiredisposable unit160 in one step or process for obvious reasons. It should also be obvious that the heat sealing process should be performed so as avoid burning or melting one of thethin membranes162 or164.

FIG. 7 illustrates one embodiment for solving the heat sinking disparity between varying materials.FIG. 7 illustrates a portion of the manifold190, which is shown in its entirety in FIG.5. InFIG. 5, the manifold190 illustrates a port that connects to thefluid pump receptacle172. This port is illustrated asport205 in FIG.7.FIG. 5 also illustrates two ports extending from the manifold190 that fluidly connect to thefluid heating path180. These ports are illustrated asports201 and203 in FIG.7. Both FIG.5 andFIG. 7 illustrate that the injection molded manifold190 defines a plurality ofholes192 andslots194. Theholes192 operate with the valve actuator and theslots194 to form fluid pathways when enclosed by themembranes162 and164.

To reduce the amount of heat necessary to seal themembranes162 and164 to the manifold190, the manifold190 includes aside193 having a lesser thickness than the remaining portion of themanifold190. Thethinner side193 has less mass and therefore absorbs less localized heat than would a manifold of constant thickness. Theside193 also defines or includes a taperedportion195. The taperedportion195 provides flat surfaces on which to seal themembranes162 and164 and also positions themembranes162 and164 together so that in an embodiment a membrane to membrane seal may also be made in addition to the membrane tomanifold190 seal.

The taperededges195 form an interface for themembranes162 and164 to seal to the manifold190, which occurs along continuous stretches of thesides193 of the manifold190 that require sealing or that would otherwise come into contact with the medical fluid. Therefore, as illustrated inFIG. 5, the side of the manifold190 defining the input/output ports196 does not need to be tapered as illustrated in FIG.7. Also, as illustrated inFIG. 7, the taperededges195 of thethin sides193 discontinue where theports201,203, and205 extend from themanifold190.

Theports201,203 and205 also form tapered edges207. Taperededges207 form an interface for heat sealing the parts to themembranes162 and164. As described above, the taperededges207 of theports201,203 and205 also enable a membrane to membrane seal to take place directly next to the membrane to taperededge207 seal. The taperededges195 and207 in a preferred embodiment gradually taper towards the knife-like edge. In other embodiments, the taperededges195 and207 may take on different forms or shapes, such as a rounded edge, a blunter edge or may simply be further reduced in thickness fromside193 of themanifold190. As illustrated, theports201,203 and205 in an embodiment form ovular openings. The tapered ovular openings provide a smoother transition angle than would a circular outer diameter. The ovular openings perform as well as round openings from a fluid flow standpoint as long as open area of the inner oval is not less than the open area of a suitable circular port.

Theports201,203 and205 also form raisedportions209. The raisedportions209 form a bead of polymeric material along the tops of theports201,203 and205 and the tapered edges207. The beads can be additionally or alternatively placed along the taperededges195 and or thesides193. The raised portions orbeads209 provide an extra thin area of plastic that melts or deforms to provide a flux-like sealant that enables themembranes162 and164 to seal to themanifold190. The beads create a concentrated strip of higher temperature plastic than the surrounding plastic of themanifold190. Themembranes162 and164 seal to the manifold190 without having to heat a larger area of themanifold190. The raised portions orbeads209 help to seal curved portions and comers created by themanifold190.

D. One-Piece Tip Protector Organizer and Vented Tip Protector

Referring now toFIG. 8, one embodiment of a one-piecetip protector organizer270 is illustrated. In the HOMECHOICE® peritoneal dialysis system provided by the assignee of the present invention, a disposable set is prepackaged and provided to the patient. The patient opens up the package, wherein each of the components is sterilized and maintained within the disposable set. The disposable set includes a disposable unit and a number of tubes emanating from the disposable unit. Like the present invention, the HOMECHOICE® disposable unit includes a drain line tube that connects to one or more fill bag tubes, and a tube that connects to a patient transfer set. Each of these tubes requires a separate tip protector. That is, after sterilizing the inside of the disposable unit and the tubes, for example, using ethylene oxide, the ends of the tubes have to be capped off so that the sterilization of the inside of the system is maintained. The HOMECHOICE® system provides a separate tip protector for each tube.

The one-piecetip protector organizer270 of the present invention provides a single body272 (which may actually be made of a plurality of pieces) that defines or provides a plurality oftip protectors274,276,278 and280. The ventedtip protector270 not only houses and protects the connectors at the ends of the tubes emanating from thedisposable unit160, the one-piece tip protector270 also organizes and orders the tubes according to the steps of the dialysis therapy. In the illustrated embodiment, thetip protector274 is a tip protector for adrain line connector284 connected to adrain line285 that leads to the appropriate port of thedisposable unit160. Thetip protectors276 and278 are supply bag protectors that protect theconnectors286 and288 that connect to the ends of thetubes287 and289 that run to a “Y”connection287/289, wherein the leg of the “Y”connection287/289 runs to the appropriate port of thedisposable unit160. Thetip protector280 is a patient fluid line protector. Thetip protector280 houses and protects aconnector290 that connects topatient tube292, which runs to the appropriate port of thedisposable unit160.

Each of thetubes285, the “Y”connection287 and289 and thepatient fluid tube292 in an embodiment are made of polyvinylchloride (“PVC”) having an inner diameter of 4 mm and an outer diameter of 5 mm. As illustrated, the one-piecetip protector organizer270 is adaptable to receive and protect various types of fluid connectors. Thefluid connector284 that runs viatube285 to the drain line port of thedisposable unit160 is in an embodiment largely the same as the port that emanates from thesupply bags14. The ports that emanate from thesupply bags14 also include a membrane that is pierced by the sharp stem of thesupply bag connectors286 and288. Thedrain line connector284 does not include the membrane of thesupply bag14 as it is not needed. Thetip protector290 that connects to the end of thepatient fluid tube292 is discussed in detail below.

In one preferred embodiment, thesystem10,100 of the present invention provides two, sixliter supply bags14. The two, six liter bags provide an economic amount of peritoneal dialysis fluid, which is enough fluid to provide a number of fill, dwell and drain cycles during the evening while the patient sleeps. The one-piece organizer270 therefore provides twotip protectors276 and278, which house and protect thesupply connectors286 and288. In alternative embodiments, the one-piece organizer270 can define or provide any number of supply bag tip protectors. Any number of supply bags can be additionally linked via “Y” or “T” type tubing links.

The one-piece organizer270 can provide additional tip protectors such as a last bag protector, which protects a line that runs to a bag that holds enough peritoneal fluid, e.g., two liters, for a final fill for the patient during the daytime. In this case, an additional last bag tube, not illustrated, would connect to a connector, which would be a bag piercing connector, the same as or similar to thefill bag connectors286 and288.

Thebody272 of thetip protector organizer270 is in an embodiment also made of PVC. Thetip protectors274,276,278 and280 are injection molded or blow molded. Alternatively, the tip protectors can be separately applied to thebody272. As seen inFIG. 8, one or more of the tip protectors can include flutes, threads or other protrusions that aid in grasping and holding the respective tube connector. Further, while theorganizer270 is generally referred to herein as a “one-piece” organizer, theorganizer270 may itself be comprised of any number of pieces. “One-piece” refers to the feature that a single unit houses a multitude of tip protectors.

The one-piece organizer270 also includes arim294 that extends outwardly from the main portion of thebody272, and which circumvents the main portion of thebody272. Referring now toFIG. 9, a cross section of the one-piece organizer270 illustrates that therim294 tapers downwardly from the drainline tip protector274 towards the patientfluid tip protector280. That is, therim294 is higher or thicker at the drain line end than it is at the patient fluid line end. This enables the one-piecetip protector organizer270 to be mounted to thehardware unit110 in only one orientation.

FIG. 3A illustrates that the one-piecetip protector organizer270 in an embodiment slides into thehardware unit110 vertically. Thehardware unit110 includes or provides a pair ofmembers296 that extend outwardly from a side wall of thehardware unit110.FIGS. 3B and 4A illustrate another embodiment, wherein therim294 of theorganizer270 slides vertically into anotch297 defined or provided by thebase114 of thehousing112 of thehardware unit110. Therim294 of theorganizer270 slides between themembers296 and the side wall of thehardware unit110. Themembers296 extend further outwardly as they extend running towards the top of thehardware unit110. The taper of themembers296 corresponds to the taper of therim294 of theorganizer270 so that theorganizer270 can only slide into thehardware unit110 vertically from one direction.

FIG. 9 also illustrates that thetip protectors274,276,278 and280 can have various cross-sectional shapes. Each of the tip protectors includes a solid bottom and sides that seal around therespective connectors284,286,288 and290, so that the one-piece organizer270 maintains the sterility of the system even after the patient removes the disposable set from a sealed sterilized container. The one-piece organizer270 illustrated inFIGS. 8 and 9 mounts in a sturdy fashion to the side of thehardware unit110. Via this solid connection, the patient is able to remove thetubes285,287,289 and292 using only one hand in many cases. The interface between thehardware unit110 and theorganizer270 simplifies the procedure for the patient and provides a solid, sterile environment for the tubes and associated connectors until used.

FIG. 3A also illustrates another possible embodiment wherein an alternative one-piece organizer298 is integral to or provided by theframe186 of thedisposable unit160. Here, thetubes196, indicated generally, are horizontally organized as opposed to the vertical arrangement of thetip protector270 in thehousing112. The horizontal one-piece organizer298 illustrates that the concept of protecting and organizing the tubes before use can be provided in a variety of places and orientations in thesystem10.

In one embodiment, the tip protector andorganizer270 structures thetubes285,287,289 and292 in a downwardly vertical order, such that the first tube that the patient is supposed to pull when starting the dialysis therapy is provided on top, the next tubes that the patient is supposed to pull are provided in the middle and the final tube is provided lowest on the vertically oriented one-piece organizer270. According to one preferred protocol, the patient first removes thedrain connector284 from thetip protector274 and runs thedrain line285 to a toilet, drain bag or other drain. The patient then removes thesupply connectors286 and288 and punctures the supply bags14 (FIGS.1 and2). At this point, dialysate can be pumped to thedisposable unit160 and throughout thesystem10. Thecontroller30 of thesystem10,100 begins a priming cycle, which is discussed in more detail below.

Once priming is complete,system10,100 prompts the patient to remove the primedpatient line292 and connect same to the transfer set implanted into the patient. The transfer set (not illustrated) includes a catheter positioned into the patient's peritoneal cavity and a tube running to the catheter. The tube also includes a connector that couples to theconnector290. At this point,system10,100 can begin to either drain spent peritoneal fluid from the patient12 to thedrain18 or pull new fluid from one or both of thesupply bags14 and fill the patient'speritoneal cavity12.

Referring now toFIGS. 10 to12, one embodiment for the patientline tip protector280 of the present invention is illustrated. The HOMECHOICE® system produced by the assignee of the present invention primes the patient fluid line by allowing the patient connector to be held vertically approximately at the same level as the supply bag. In this manner, when the HOMECHOICE® system primes the disposable unit, gravity feeds peritoneal fluid into the patient fluid line up to the end of the patient fluid connector. The patient fluid connector is open so that air can freely escape when the peritoneal fluid is fed by gravity through the patient line. HOMECHOICE® system enables the patient fluid line to be primed without counting pump strokes or having to meter out a known volume of dialysate, techniques which are complicated and prone to failure.

Thesystem10,100 of the present invention provides a different apparatus and method of priming without having to calculate the amount of fluid that is needed to just reach but not surpass the patient connector of the patient fluid line.FIG. 10 shows a cross-section of thepatient fluid connector290 that has been inserted into the ventedtip protector280.FIG. 11 illustrates a cross section of thepatient fluid connector290 only.FIG. 12 illustrates a cross section of thetip protector280 only. Ahydrophobic membrane300 is placed on the outer edge of thetip protector280. Thetip protector280 defines afluid lumen302 that runs through the entire length of thetip protector280. Thehydrophobic membrane300 covers thefluid lumen302. Thehydrophobic membrane300 allows air to purge from inside the patient's fluid line but does not allow water or peritoneal fluid to flow through same.

It should be appreciated that the ventedtip protector280 including thehydrophobic membrane300 is not limited to being placed in the one-piecetip protector organizer270.FIG. 9 illustrates that the one-piece organizer270 does include thepatient tip protector280 having thehydrophobic membrane300 and thefluid lumen302. The ventedtip protector280 in an alternative embodiment, however, can be provided as a separate or stand alone tip protector, similar to the one used on the HOMECHOICE® system provided by the assignee of the present invention.

Hydrophobic membranes, such as thehydrophobic membrane300 employed herein, are commercially available. One suitable hydrophobic membrane is produced by Millipore, 80 Ashby Road, Bedford, Mass. 01730.FIG. 12 best illustrates that the hydrophobic membrane heat seals or sonically seals to thetip protector280. Thefluid lumen302 in an embodiment is relatively small in diameter, such as approximately fifty to seventy thousandths of an inch (1.25 to 1.75 mm).

The ventedtip protector280 and thepatient fluid connector290 also cooperate so that when thesystem10,100 is completely primed, thetip protector280 andconnector290 minimize the amount of fluid that spills when the patient removes thepatient fluid connector290 from thetip protector280. Theconnector290 includes or provides amale lure304 that mates with afemale lure306 best seen in FIG.10. The mating lures304 and306 prevent peritoneal fluid from filling the cavity of thetip protector280, which must be wide enough to house theflange308 of thepatient fluid connector290.FIG. 12 illustrates that the seal interface between themale lure304 of theconnector290 and thefemale lure306 of the ventedtip protector280 reduces the volume significantly from aninterior volume310 existing around themale lure304 to the fifty to seventy thousandths diameter of thelumen302.

To prime thesystem10,100 the patient removes thedrain line285 from thetip protector274 and places it into a tub, toilet or drainbag18. The patient removes the two or moresupply bag connectors286 and288 and punctures seal membranes (not illustrated) of thesupply bags14.System10,100 may then automatically begin pump priming or may begin pump priming upon a patient input. In either case,system10,100 pumps fluid from one or both of thesupply bags14 through theconnectors286 and288 andtubes287 and289, into the disposaldisposable unit160, out thepatient fluid line292 and into thepatient fluid connector290, which is still housed in the ventedtip protector280 of the one-piece organizer270. Theorganizer270 is vertically housed in thehardware unit110 as seen inFIGS. 3A and 3B.

When the peritoneal fluid reaches thepatient fluid connector290, most all the air within thesystem10 has been pushed through thehydrophobic membrane300 attached at the end of thetip protector280 housed in the one-piece tip protector270. The nature of thehydrophobic membrane300 is that it allows air to pass through but filters or does not allow water or peritoneal fluid to pass through same. Thus, when the fluid finally reaches thehydrophobic membrane300, the lack of any additional space in which to flow fluid causes the pressure to increase within thesystem10,100. Thesystem10,100 provides one or more pressure sensors, for example pressure sensors68 (marked as FP1, FP2 and FPT in FIGS.1 and2).

One or more of thepressure sensors68 sense the increase in pressure due to the peritoneal fluid backing up against thehydrophobic filter300. The pressure sensor(s) sends a signal to the I/O module36 of thecontroller30. Thecontroller30 receives the signal and is programmed inmemory device32 to shut down thediaphragm pump20,120. In this manner, thesystem10 self-primes each of thefill lines287 and289, thedisposable unit160 and thepatient fluid line292 automatically and without need for controlled volume calculations or gravity feeding.

System10,100 also includes one or more safety features that may be based upon a volume calculation. That is, under normal operations, thesystem10,100 does not control the priming using a volume calculation. However, in the case where for example the patient removes thepatient fluid connector290 from the ventedtip protector280 of the one-piece tip organizer270 before thesystem10,100 senses a pressure increase and stops thepumps10,100, thesystem10,100 can employ an alarm calculation, wherein thesystem10,100 knows that it has pumped too much peritoneal fluid (e.g., a predetermined amount more than the internal volume of the system) and shuts downpump20,120 accordingly.

III. Membrane Material for the Disposable Unit

Referring now toFIGS. 13 and 14, upper andlower membranes162,164 can be fabricated from a monolayer film structure312 (FIG. 13) or a multiple layer film structure312 (FIG.14). Thefilm312 is constructed from a non-PVC containing polymeric material and must satisfy numerous physical property requirements. Thefilm312 must have a low modulus of elasticity so that it can be deformed under low pressure to function as a pumping element. What is meant by low modulus is thefilm312 has a modulus of elasticity when measured in accordance with ASTM D882, of less than about 10,000 psi, more preferably less than about 8,000 psi and even more preferably less than about 5,000 psi and finally, less than about 3,000 psi, or any range or combination of ranges defined by these numbers. Thefilm312 must have adequate thermal conductivity to allow for in-line heating. The film has a thermal conductivity of greater than 0.13 W/meters-°K when measured using a Hot Disk® sold by Mathis Instruments Ltd. Thefilm312 must be capable of being heat sealed tocassette160. Thefilm312 must be capable of being sterilized by exposure to gamma rays, by exposure to steam for a period of time (typically 1 hour), and exposure to ethylene oxide without significant degradation of the film or having an adverse effect on the dialysis solution. Finally, thefilm312 must be capable of being extruded at high rates of speed of greater than 50 ft/min.

Themonolayer structure312 is formed from a blend of from about 90% to about 99% by weight of a first component containing a styrene and hydrocarbon copolymer and from about 10% to about 1% of a melt strength enhancing polymer and more preferably a high melt strength polypropylene.

The term “styrene” includes styrene and the various substituted styrenes including alkyl substituted styrene and halogen substituted styrene. The alkyl group can contain from 1 to about 6 carbon atoms. Specific examples of substituted styrenes include alpha-methylstyrene, beta-methylstyrene, vinyltoluene, 3-methylstyrene, 4-methylstyrene, 4-isopropylstyrene, 2,4-dimethylstyrene, o-chlorostyrene, p-chlorostyrene, o-bromostyrene, 2-chloro-4-methylstyrene, etc. Styrene is the most preferred.

The hydrocarbon portion of the styrene and hydrocarbon copolymer includes conjugated dienes. Conjugated dienes which may be utilized are those containing from 4 to about 10 carbon atoms and more specifically, from 4 to 6 carbon atoms. Examples include 1,3-butadiene, 2-methyl-1,3-butadiene (isoprene), 2,3-dimethyl-1,3-butadiene, chloroprene, 1,3-pentadiene, 1,3-hexadiene, etc. Mixtures of these conjugated dienes also may be used such as mixtures of butadiene and isoprene. The preferred conjugated dienes are isoprene and 1,3-butadiene.

The styrene and hydrocarbon copolymers can be block copolymers including di-block, tri-block, multiblock, and star block. Specific examples of diblock copolymers include styrene-butadiene, styrene-isoprene, and selectively hydrogenated derivatives thereof. Examples of tri-block polymers include styrene-butadiene-styrene, styrene-isoprene-styrene, alpha-methylstyrene-butadiene-alpha-methylstyrene, and alpha-methylstyrene-isoprene-alpha-methylstyrene and selectively hydrogenated derivatives thereof.

The selective hydrogenation of the above block copolymers may be carried out by a variety of well known processes including hydrogenation in the presence of such catalysts as Raney nickel, noble metals such as platinum, palladium, etc., and soluble transition metal catalysts. Suitable hydrogenation processes which can be used are those wherein the diene-containing polymer or copolymer is dissolved in an inert hydrocarbon diluent such as cyclohexane and hydrogenated by reaction with hydrogen in the presence of a soluble hydrogenation catalyst. Such procedures are described in U.S. Pat. Nos. 3,113,986 and 4,226,952, the disclosures of which are incorporated herein by reference and made a part hereof.

Particularly useful hydrogenated block copolymers are the hydrogenated block copolymers of styrene-isoprene-styrene, such as a polystyrene-(ethylene/propylene)-polystyrene block polymer. When a polystyrene-polybutadiene-polystyrene block copolymer is hydrogenated, the resulting product resembles a regular copolymer block of ethylene and 1-butene (EB). This hydrogenated block copolymer is often referred to as SEBS. When the conjugated diene employed is isoprene, the resulting hydrogenated product resembles a regular copolymer block of ethylene and propylene (EP). This hydrogenated block copolymer is often referred to as SEPS. When the conjugated diene is a mixture of isoprene and butadiene the selectively hydrogenated product is referred to as SEEPS. Suitable SEBS, SEPS and SEEPS copolymers are sold by Shell Oil under the tradename KRATON, by Kurary under the tradename SEPTON® and HYBRAR®.

The block copolymers of the conjugated diene and the vinyl aromatic compound can be grafted with an alpha,beta-unsaturated monocarboxylic or dicarboxylic acid reagent. The carboxylic acid reagents include carboxylic acids per se and their functional derivatives such as anhydrides, imides, metal salts, esters, etc., which are capable of being grafted onto the selectively hydrogenated block copolymer. The grafted polymer will usually contain from about 0.1 to about 20%, and preferably from about 0.1 to about 10% by weight based on the total weight of the block copolymer and the carboxylic acid reagent of the grafted carboxylic acid. Specific examples of useful monobasic carboxylic acids include acrylic acid, methacrylic acid, cinnamic acid, crotonic acid, acrylic anhydride, sodium acrylate, calcium acrylate and magnesium acrylate, etc. Examples of dicarboxylic acids and useful derivatives thereof include maleic acid, maleic anhydride, fumaric acid, mesaconic acid, itaconic acid, citraconic acid, itaconic anhydride, citraconic anhydride, monomethyl maleate, monosodium maleate, etc.

The first component containing a styrene and hydrocarbon block copolymer can be modified by adding an oil, such as a mineral oil, paraffinic oil, polybutene oil or the like. The amount of oil added to the styrene and hydrocarbon block copolymer is from about 5% to about 40%. The first component can also contain a polypropylene up to about 20% by weight of the first component. One particularly suitable first component is an oil modified SEBS sold by the Shell Chemical Company under the product designation KRATON G2705.

The melt strength enhancing polymer preferably is a high melt strength polypropylene. Suitable high melt strength polypropylenes can be a homopolymer or a copolymer of polypropylene and can have free end long chain branching or not. In one preferred form of the invention, the high melt strength polypropylene will have a melt flow index within the range of 10 grams/10 min. to 800 grams/10 min., more preferably 10 grams/10 min. to 200 grams/10 min, or any range or combination of ranges therein. High melt strength polypropylenes are known to have free-end long chain branches of propylene units. Methods of preparing polypropylenes which exhibit a high melt strength characteristic have been described in U.S. Pat. Nos. 4,916,198; 5,047,485; and 5,605,936, which are incorporated herein by reference and made a part hereof. One such method includes irradiating a linear propylene polymer in an environment in which the active oxygen concentration is about 15% by volume with high energy ionization radiation at a dose of 1×10⁴megarads per minute for a period of time sufficient for a substantial amount of chain scission of the linear propylene polymer to occur but insufficient to cause the material to become gelatinous. The irradiation results in chain scission. The subsequent recombination of chain fragments results in the formation of new chains, as well as joining chain fragments to chains to form branches. This further results in the desired free-end long chain branched, high molecular weight, non-linear, propylene polymer material. Radiation is maintained until a significant amount of long chain branches form. The material is then treated to deactivate substantially all the free radicals present in the irradiated material.

High melt strength polypropylenes can also be obtained as described in U.S. Pat. No. 5,416,169, which is incorporated in its entirety herein by reference and made a part hereof, when a specified organic peroxide (di-2-ethylhexyl peroxydicarbonate) is reacted with a polypropylene under specified conditions, followed by melt-kneading. Such polypropylenes are linear, crystalline polypropylenes having a branching coefficient of substantially 1, and, therefore, has no free ende long-chain branching and will have a intrinsic viscosity of from about 2.5 dl/g to 10 dl/g.

Suitable copolymers of propylene are obtained by polymerizing a propylene monomer with an α-olefin having from 2 to 20 carbons. In a more preferred form of the invention the propylene is copolymerized with ethylene in an amount by weight from about 1% to about 20%, more preferably from about 1% to about 10% and most preferably from 2% to about 5% by weight of the copolymer. The propylene and ethylene copolymers may be random or block copolymers. In a preferred form of the invention, the propylene copolymer is obtained using a single-site catalyst.

The components of the blend can be blended and extruded using standard techniques well known in the art. Thefilm312 will have a thickness of from about 3 mils to about 12 mils, more preferably from 5 mils to about 9 mils.

FIG. 14 shows a multiple layer film having afirst layer314 and asecond layer316.FIG. 14 shows the use of two layers but the present invention contemplates using more than two layers provided the above-mentioned material property requirements are met. Thefirst layer314 can be of the same polymer blend used to fabricate the monolayer structure and in a more preferred form of the invention will define a seal layer for joining the film thecassette160. Thesecond layer316 can be made from non-PVC containing materials and preferably is selected from polyolefins, polybutadienes, polyesters, polyester ethers, polyester elastomers, polyamides and the like and blends of the same. A tie layer or tie layers (not shown) may be required to adhere additional layers to thefirst layer314.

Suitable polyolefins include homopolymers and copolymers obtained by polymerizing alpha-olefins containing from 2 to 20 carbon atoms, and more preferably from 2 to 10 carbons. Therefore, suitable polyolefins include polymers and copolymers of propylene, ethylene, butene-1, pentene-1, 4-methyl-1-pentene, hexene-1, heptene-1, octene-1, nonene-1 and decene-1. Most preferably the polyolefin is a homopolymer or copolymer of propylene or a homopolymer or copolymer of polyethylene.

Suitable homopolymers of polypropylene can have a stereochemistry of amorphous, isotactic, syndiotactic, atactic, hemiisotactic or stereoblock. In one preferred form of the invention the homopolymer of polypropylene is obtained using a single site catalyst.

It is also possible to use a blend of polypropylene and α-olefin copolymers wherein the propylene copolymers can vary by the number of carbons in the α-olefin. For example, the present invention contemplates blends of propylene and α-olefin copolymers wherein one copolymer has a 2 carbon α-olefin and another copolymer has a 4 carbon α-olefin. It is also possible to use any combination of α-olefins from 2 to 20 carbons and more preferably from 2 to 8 carbons. Accordingly, the present invention contemplates blends of propylene and αolefin copolymers wherein a first and second α-olefins have the following combination of carbon numbers: 2 and 6, 2 and 8, 4 and 6, 4 and 8. It is also contemplated using more than 2 polypropylene and α-olefin copolymers in the blend. Suitable polymers can be obtained using a catalloy procedure.

It may also be desirable to use a high melt strength polypropylene as defined above.

Suitable homopolymers of ethylene include those having a density of greater than 0.915 g/cc and includes low density polyethylene (LDPE), medium density polyethylene (MDPE) and high density polyethylene (HDPE).

Suitable copolymers of ethylene are obtained by polymerizing ethylene monomers with an α-olefin having from 3 to 20 carbons, more preferably 3-10 carbons and most preferably from 4 to 8 carbons. It is also desirable for the copolymers of ethylene to have a density as measured by ASTM D-792 of less than about 0.915 g/cc and more preferably less than about 0.910 g/cc and even more preferably less than about 0.900 g/cc. Such polymers are oftentimes referred to as VLDPE (very low density polyethylene) or ULDPE (ultra low density polyethylene). Preferably the ethylene α-olefin copolymers are produced using a single site catalyst and even more preferably a metallocene catalyst systems. Single site catalysts are believed to have a single, sterically and electronically equivalent catalyst position as opposed to the Ziegler-Natta type catalysts which are known to have a mixture of catalysts sites. Such single-site catalyzed ethylene α-olefins are sold by Dow under the trade name AFFINITY, DuPont Dow under the trademark ENGAGE® and by Exxon under the trade name EXACT. These copolymers shall sometimes be referred to herein as m-ULDPE.

Suitable copolymers of ethylene also include ethylene and lower alkyl acrylate copolymers, ethylene and lower alkyl substituted alkyl acrylate copolymers and ethylene vinyl acetate copolymers having a vinyl acetate content of from about 5% to about 40% by weight of the copolymer. The term “lower alkyl acrylates” refers to comonomers having the formula set forth in Diagram 1:

The R group refers to alkyls having from 1 to 17 carbons. Thus, the term “lower alkyl acrylates” includes but is not limited to methyl acrylate, ethyl acrylate, butyl acrylate and the like.

The term “alkyl substituted alkyl acrylates” refers to comonomers having the formula set forth in Diagram 2:

R₁and R₂are alkyls having 1-17 carbons and can have the same number of carbons or have a different number of carbons. Thus, the term “alkyl substituted alkyl acrylates” includes but is not limited to methyl methacrylate, ethyl methacrylate, methyl ethacrylate, ethyl ethacrylate, butyl methacrylate, butyl ethacrylate and the like.

Suitable polybutadienes include the 1,2- and 1,4-addition products of 1,3-butadiene (these shall collectively be referred to as polybutadienes). In a more preferred form of the invention the polymer is a 1,2-addition product of 1,3 butadiene (these shall be referred to as 1,2 polybutadienes). In an even more preferred form of the invention the polymer of interest is a syndiotactic 1,2-polybutadiene and even more preferably a low crystallinity, syndiotactic 1,2 polybutadiene. In a preferred form of the invention the low crystallinity, syndiotactic 1,2 polybutadiene will have a crystallinity less than 50%, more preferably less than about 45%, even more preferably less than about 40%, even more preferably the crystallinity will be from about 13% to about 40%, and most preferably from about 15% to about 30%. In a preferred form of the invention the low crystallinity, syndiotactic 1,2 polybutadiene will have a melting point temperature measured in accordance with ASTM D 3418 from about 70° C. to about 120° C. Suitable resins include those sold by JSR (Japan Synthetic Rubber) under the grade designations: JSR RB 810, JSR RB 820, and JSR RB 830.

Suitable polyesters include polycondensation products of di- or polycarboxylic acids and di or poly hydroxy alcohols or alkylene oxides. In a preferred form of the invention the polyester is a polyester ether. Suitable polyester ethers are obtained from reacting 1,4 cyclohexane dimethanol, 1,4 cyclohexane dicarboxylic acid and polytetramethylene glycol ether and shall be referred to generally as PCCE. Suitable PCCE's are sold by Eastman under the trade name ECDEL. Suitable polyesters further include polyester elastomers which are block copolymers of a hard crystalline segment of polybutylene terephthalate and a second segment of a soft (amorphous) polyether glycols. Such polyester elastomers are sold by Du Pont Chemical Company under the trade name HYTREL®.

Suitable polyamides include those that result from a ring-opening reaction of lactams having from 4-12 carbons. This group of polyamides therefore includesnylon 6,nylon 10 andnylon 12. Acceptable polyamides also include aliphatic polyamides resulting from the condensation reaction of di-amines having a carbon number within a range of 2-13, aliphatic polyamides resulting from a condensation reaction of di-acids having a carbon number within a range of 2-13, polyamides resulting from the condensation reaction of dimer fatty acids, and amide containing copolymers. Thus, suitable aliphatic polyamides include, for example,nylon 66,nylon 6,10 and dimer fatty acid polyamides.

In a preferred from of the invention, thecassette160 is fabricated from a material that is adhesively compatible with the upper andlower membrane162,164. What is meant by adhesive compatibility is the membrane can be attached to the cassette using standard heat sealing techniques. One particularly suitable material is a polymer blend of a polyolefin and a styrene and hydrocarbon copolymer. More particularly, the polyolefin of the polymer blend is a polypropylene and even more preferably a polypropylene copolymer with ethylene with an ethylene content of from about 1% to about 6% by weight of the copolymer. The styrene and hydrocarbon copolymer is more preferably an SEBS tri-block copolymer as defined above. The polypropylene copolymer should constitute from about 70% to about 95% and more preferably from about 80% to about 90% of the blend, and the SEBS will constitute from about 5% to about 30% and more preferably from about 10% to about 20% SEBS. In a preferred form of the invention, the polypropylene used to fabricate the cassette will have a lower melting point temperature than the high melt strength polypropylene used to fabricate the membrane. In a preferred form of the invention the polypropylene of thecassette160 will have a melting point temperature of from about 120° C.-140° C. and for the film from about 145° C.-160° C. Thecassette160 can be injection molded from these polymer blends.

The upper andlower membranes162,164 are attached to thecassette160 utilizing heat sealing techniques. The film has a peel strength of greater than 5.0 lbf/inch when tested with a tensile instrument until film failure or bond failure. Also, when the film is attached to the cassette it can be deformed under a pressure of 5 psi. The film maintains its low modulus and deformability properties even after sterilization to continue to meet the pumping requirement. The film has an extended shelf life. The film retains its pumping abilities even after two years shelf storage.

IV. Valve Actuator

Referring now toFIG. 15, one embodiment of an interface between thevalve actuator26 and thevalve manifold190 is illustrated. The valve motor28 (not illustrated) of thevalve actuator26 drives acamshaft200 through a mechanical linkage determinable to those of skill in the art. In an embodiment, asingle camshaft200 attaches to a series ofcams202, for example, one of each of the valves in thesystem10 or100. Thecams202 are fixed to thecamshaft200 and rotate in a one to one relationship with same.

Thecams202drive pistons204, which engage in a friction reduced way with the cams, for example, viarollers206. Thecams202drive pistons204 up and down (only two of five cams shown having associated pistons to show other features of the actuator26). When acam202 drives its associatedpiston204 upward, thepiston204 engages one of themembranes162 or164 (typically thelower membrane164, which is not shown inFIG. 15 for clarity) and pushes the membrane up into therespective hole192 defined by therigid manifold190. This action stops the flow of medical fluid or dialysate through the respective valve.

Thepistons204 are also spring-loaded inside arespective housing208. When thecamshaft200 turns so that a lower cam profile appears below one of thepistons204, the spring inside thehousing208 pushes thepiston204 so that theroller206 maintains contact with therespective cam202. Thepiston204 consequently moves away from therespective hole192 defined by therigid manifold190, wherein themembrane162 or164, which has been stretched upward by thepiston204, springs back to its normal shape. This action starts the flow of medical fluid or dialysate through the respective valve.

Themotor28 is of a type, for example a stepper or servo motor, that can rotate a fraction of a rotation and stop and dwell for any predetermined period of time. Thus, themotor28 can hold a valve open or closed for as long as necessary. Thecams202 are shaped to provide a unique combination of bumps and valleys for every flow situation. In certain situations, such as with valves V2 and V3 of thesystem10, the valves always open and close together, so that both valves use thesame cam202 oriented in the same way oncamshaft200.

Referring now toFIGS. 16A and 16B, thecamshaft200 andcams202 are illustrated figuratively.FIG. 16A illustrates a composite cam profile370, i.e., a combination of each of thecams202ato202fillustrated in FIG.16B.FIG. 16B illustrates that thecams202ato202fmount to thecamshaft200 viahubs384. Thehubs384 may employ set screens as is well known.camshaft200 can also have indentations, etc., for aligning thehubs384. In an alternative embodiment, one or more of thecams202ato202fmay be integrally formed with the otherwisecamshaft200. In an embodiment, thecamshaft200 is a single molded piece, which prevents thecams202ato202ffrom rotating with respect to one another. The single moldedcamshaft200 supports or attaches to a plurality of or to all of thecams202ato202f.

As illustrated above inFIG. 15, each of thecams202ato202fofFIG. 16B drives asingle piston204 androller206 to operate asingle valve head192 of therigid manifold190. Thecams202ato202fopen or occlude the valve heads192 according to the shape of the respective cam.FIG. 16B illustrates that thecamshaft200 supports sixcams202ato202f.FIG. 15 illustrates fivecams200. The cam provided in the embodiment ofFIG. 16B may be to open a last bag, illustrated by the “last bag valve open”position382. Either of thesystems10 or100 may include a last bag. The last bag is a final dialysate fill of about two liters into the patient before the patient disconnects from the system and resumes normal daily activities.

Thevalve motor28 and the valve actuator26 (FIGS. 1 and 2) rotate thecamshaft200 to open or close the valve heads192 to create a desired solution flow path. The arrangement of thecams202ato202fon thecamshaft200 is made such that, at any time during the therapy, there is no more than one fluid path open at any given time. Further, when thevalve actuator26 rotates thecamshaft200 from one flow path open position to the next, the series ofcams202ato202fclose all the valves for a moment of time. The closing of each of the valves prevents dialysate from back-flowing or moving in the wrong direction. Still further, thecams202ato202fare arranged such that only onevalve head192 of thevalve manifold190 of thedisposable unit160 may be open at any given time. Therefore, there is no open fluid path in the event of a system failure or inadvertent power down. This safety feature prevents dialysate from free-flowing into the patient12 or overfilling thepatient12.

Thelid116 for thehousing112 of thehardware unit110 may be freely opened by an operator or patient to load thedisposable unit160 into the hardware unit. When this occurs, thecontroller30 automatically commands the camshaft to rotate so that an “all valves open”position372, illustrated by the composite profile370, resides beneath therollers206 andpistons204. In the “all valves open”position372, thecamshaft200 is rotated such that a depression exists under each of thepistons204 and associatedrollers206. Accordingly, thepistons204 sit in a relatively low position, i.e., out of the way, when the operator or patient loads thedisposable unit160 andvalve manifold190 into thehardware unit110. This enables the patient or operator to place adisposable unit160 into theunit110 without encountering an obstruction or opposing force by one or more of thepistons206.

After the patient or operator loads the disposable unit into thehardware unit110 and closes thelid116, thecontroller30 automatically rotates thecamshaft200 so that an “all valves closed”position386aresides beneath thepistons204 androllers206. As illustrated, the “all valves closed”position386aresides adjacent to the “all valves open”position372. When thecamshaft200 is rotated to the “all valves closed position”386a, no fluid can flow through thesystem10,100. As thecamshaft200 rotates from the “all valves open”position372 to the first “all valves closed”position386a, a mechanical interlock (not illustrated) is moved into thecamshaft200, which prevents the rotation of thecamshaft200 back to the “all valves open”position372. This prevents uncontrolled flow of the dialysate, which could occur when each of the valve heads192 is open, in the event that the operator tries to open thelid116 during therapy.

In an alternative embodiment, an interlock can be provided through software. An encoder provides positional and velocity feedback to thecontroller30. Thecontroller30 therefore knows the position of thecam shaft200. Thus, thecontroller30 is able to prevent the rotation of thecamshaft200 back to the “all valves open”position372.

When the patient closeslid116, a second mechanical interlock (not illustrated) locks the lid in place, so that the patient cannot open thelid116 during therapy. Thesystem10,100 senses when the patient has removed thepatient fluid line292 andconnector290 from the transfer set, which is implanted in thepatient12. Only then will thesystem10,100 allow the patient to open thelid116. The mechanical interlocks prevent free-filling, overfilling and the patient from tampering with the system while it is running. The valve configuration provides a fail safe system that prevents fluid flow in the event of a failure or power down.

In many instances, when the patient begins dialysis therapy, the patient is already full of dialysate. In the illustrated embodiment ofFIG. 16A, therefore, the composite profile370 provides the “all valve open”position372 next to the “from patient value open”position374. The “from patient valve open” position resides next to the “drain valve open”position376. In this manner, upon therapy startup,camshaft200 is readily positioned to be able to cooperate with thepump20,120 to drain spent dialysate from the patient. It should be appreciated that any of thecams202ato202fmay be the cam that provides the “from patient valve open”position374, the “drain valve open”position376, etc.

Between the “from patient valve open”position374 and the “drain valve open”position376 resides a second “all valves closed”position386b. Between each opening of a new valve and closing of a previously opened valve, each valve is momentarily closed. Thecontroller30 causes the motor (e.g., a stepper, servo or DC motor) andactuator26 to toggle thecamshaft200 back and forth between the “from patent valve open”position374, past the “all valves closed”position386b, to the “drain valve open”position376. In this manner, thepump20,120 is able to sequentially pull apart fluid from thepatient12 and dump it to drain18.

When thesystem10,100 completes the initial patient drain cycle, thecontroller30 causes theactuator26 ofmotor28 to rotatecamshaft200 past the “all valves closed”position386cto the “supply valve open position”378. To fill the patient full of fresh dialysate, thecontroller30 causes thecamshaft200 to toggle back and forth between the “supply valve open”position378 and the “to patient valve open”position380, each time passing over the “all valves closed”position386d. Again, for the drain and fill cycles, only onevalve head192 is open at any given period of time. The toggling always includes an “all valves closed” position between the dosing of onevalve head192 and the opening of another. The single pump sequentially pulls fluid into thedisposable unit160 and pushes fluid from same.

After the initial fill,camshaft200 is positioned so that thecamshaft200 can once again toggle back and forth between the “from patient valve open”position374, past the intermediate “all valves closed”position386b, to the “drain valve open”position376. When the patient is once again empty, thecamshaft200 is positioned so that the camshaft may be toggled back and forth between the “supply valve open”position378 and the “to patient valve open”position380. Thesystem10,100 repeats this series of cycles as many times as necessary. Typically, the patient receives approximately 2 to 2.5 liters of dialysate in a single fill cycle. The twosupply bags14 each hold six liters of dialysate in an embodiment. This provides thesystem10,100 with four to six complete fill, dwell and drain cycles, which are provided, for example, through the night while the patient sleeps.

In many instances, the patient will receive a last bag fill at the end of the therapy, which the patient will carry for the day. To perform this procedure, thecamshaft200 toggles back and forth between the “from patient valve open”position374 to the “drain valve open”position376 to dump the preceding fill of peritoneal fluid to drain18. Thereafter, thecamshaft200 is positioned to toggle back and forth between the “last bag valve open”position382 and the “to patient valve open”position380. In doing so, thecamshaft200 rotates past one of the all valves closed positions, namely, the “all valves closed position”386e.

To prime the system, thecamshaft200 may be positioned and toggled in a number of different ways. In one embodiment, thecamshaft200 toggles back and forth between the “supply valve open”position378 and the “drain valve open”position376, passing over the “all valves closed”position386c. This toggling in cooperation with the pumping ofpump20 or120 causes the dialysate to flow from thesupply bags14, through thedisposable unit160, to drain18. In another embodiment, using the ventedtip protector280 illustrated in connection with theFIGS. 8 to12, thecamshaft200 toggles back and forth between the “supply valve open”position378 and the “to patient valve open”position380. This causes dialysate to flow from thebags14, through thedisposable unit160, and into thepatient fluid line292 to the end of the ventedtip protector280. When dialysate reaches thehydrophobic membrane300 of the ventedtip protection28, the pressure in thesystem10,100 rises, wherein a signal is received by thecontroller30, which causes thepump20,120 to stop pumping and thecamshaft200 to stop toggling.

V. Medical Fluid PumpA. Pump Hardware and Operation

Referring now toFIGS. 17A and 17B, one embodiment of thepump20 is illustrated. Thelid116 of thehardware unit110 defines anupper chamber wall216. Disposed within thehousing112 of the hardware unit110 (FIGS. 3A to4B) is alower chamber wall218. Thechamber walls216 and218 define aninternal chamber210. Thechamber210 can have any desired shape, for instance the clamshell shape as illustrated inFIGS. 17A and 17B.

Thelower chamber wall218 defines or provides a sealedaperture219 that allows apump piston212 to translate back and forth within thechamber210. Thepiston212 is attached to or integrally formed with apiston head214. Thepiston head214 in an embodiment has an outer shape that is similar to or the same as an internal shape of theupper chamber wall216.

Thepump piston212 connects to or is integrally formed with thelinear actuator24. Thelinear actuator24 in an embodiment is a device, such as a ball screw, that converts the rotary motion of amotor22 into the translational motion of thepiston212. In one preferred embodiment, themotor22 is a linear stepper motor that outputs a translationally moving shaft. Here, theactuator24 may simply couple the motor shaft to thepiston212. The linear or rotary stepper motor provides quiet linear motion and a very high positional resolution, accuracy and repeatability. Stepper motors are commercially available, for example, from Hayden Switch and Instrument Inc., Waterbury, Conn.

As described above, the flexible fluid receptacle172 (seen inFIG. 17A but not inFIG. 17B) is defined by the expandable upper andlower membranes162 and164, respectively, of thedisposable unit160. InFIG. 17A, when thepump20 is full of medical fluid, thepump chamber210 and themembrane receptacle172 have substantially the same shape. InFIG. 17B, when thepump20 has displaced all or most all of the medical fluid, thepump chamber210 maintains the same volume but themembranes162 and164 of thefluid receptacle172 have collapsed to virtually a zero volume along the interior surface of theupper chamber wall216.

Vacuumsource44 for thepump20 is described above in connection with FIG.1. Thevacuum source44 exerts a vacuum on theupper membrane162, through the aperture orport222. The aperture orport222 extends through theupper chamber wall216. Thevacuum source44 exerts a vacuum on thelower membrane164, through anaperture221 defined or provided byhousing223, and through the port oraperture220. The port oraperture220 extends through thepiston212, including thepiston head214. When a vacuum is applied, thelower membrane164 seals against thepiston head214. Theupper membrane162 seals against theupper chamber wall216.

Theport222 fluidly connects to channels (not illustrated) defined by the interior wall of theupper chamber wall216. The channels extend radially outwardly fromport222 in various directions. The channels help to distribute the negative pressure applied through theport222 to further enable theupper membrane162 to substantially conform to the interior shape of theupper chamber wall216. In a similar manner, the outer surface of thepiston head214 can include radially extending channels to further enable thelower membrane164 to substantially conform, upon application of the vacuum, to the outer surface of thepiston head214.

Thepump20 also includes adiaphragm232 tensioned between the upper andlower chamber walls216 and218, respectively. Thediaphragm232 defines, together with theupper chamber wall218, a known, predictable and repeatable maximum volume of dialysate, which can be drawn from one or more of thesupply bags14 and transported to thepatient12. Thediaphragm232 also enables the volume of a partial stroke to be characterized, which also enables accurate and repeatable volume measurements.

Thediaphragm232 is disposed beneath thepiston head214 and around thepiston212. When the vacuum is applied to the port oraperture220, thediaphragm232, as well as thelower membrane164, are pulled against thepiston head214. When thepiston head214 is actuated upwardly away from thelower chamber wall218, with the vacuum applied throughaperture220, themembrane164 and thediaphragm232 remain drawn to thepiston head214. An inner portion of themembrane164 conforms to the shape of the outer surface of thepiston head214. The remaining outer portion of themembrane164 conforms to the shape of the exposed surface of thediaphragm232.

Thediaphragm232 in an embodiment includes a flexible, molded cup-shaped elastomer and a fabric reinforcement, such as fabric reinforced ethylene propylene diene methylene (“EPDM”). The fabric can be integrally molded with the elastomer. The fabric prevents unwanted deformation of the diaphragm while under pressure. Thediaphragm232 can stretch when thepiston212 andhead214 move downwardly towards thelower chamber wall218, pulling thediaphragm232 along the crimped edges of the upper andlower chamber walls216 and218. Thediaphragm232 also moves and remains sealed to thepiston head214 when thepiston212 andhead214 move upwardly towards theupper chamber wall216.

In operating thepump20, negative pressure is constantly applied through theport222 to hold theupper membrane162 against theupper chamber wall216. Themanifold190 of the disposable unit160 (seeFIGS. 3A and 5) define afluid port opening230 to themembrane receptacle172. Thefluid port opening230 allows medical fluid or dialysate to enter and exit themembrane receptacle172. Themembrane receptacle172 seats in place with the crimped edges of the upper andlower chamber walls216 and218. Theseal170 of thereceptacle172 may actually reside slightly inside the crimped edges of the upper andlower chamber walls216 and218 (see FIG.4A).

During a pump fill stroke, with theupper membrane162 vacuum-pressed against theupper chamber wall216, and thelower membrane164 and thediaphragm232 vacuum-pressed against thepiston head214, themotor22/actuator24 cause thepiston head214 to move downwardly towards thelower chamber wall218, increasing the volume within theflexible receptacle172, and producing a negative pressure within same. The negative pressure pulls dialysate from thesupply bags14 or the patient12 as dictated by the current valve arrangement. The openedreceptacle172 fills with fluid. This process occurs when the pump moves from the position ofFIG. 17B to the position of FIG.17A.FIG. 17A shows thepump20 at the end of the stroke, with thereceptacle172 fully opened (i.e., full of fluid).

During a patient fill or drain stroke, again with theupper membrane162 vacuum-pressed against theupper chamber wall216, and thelower membrane164 and thediaphragm232 vacuum-pressed against thepiston head214, themotor22/actuator24 cause thepiston head214 to move upwardly towards theupper chamber wall216, decreasing the volume within theflexible receptacle172 and producing a positive pressure within same. The positive pressure pushes dialysate from thereceptacle172 to the patient12 or thedrain18 as dictated by the current valve arrangement. Thereceptacle172 closes as thelower membrane164 moves upward towards theupper membrane162. This process occurs when the pump moves from the position ofFIG. 17A to the position of FIG.17B.FIG. 17B shows thepump20 at the end of the stroke, with thereceptacle172 empty or virtually empty.

In the event that air (“air” for purposes of this invention includes air as well as other gases which may be present, particularly those that have escaped from the patient's peritoneal cavity) enters thefluid receptacle172, it must be purged to maintain accuracy. It should be appreciated that if air enters between themembranes162 and164, the presently preferredsystem10,100 does not have the ability to pull a vacuum between themembranes162 and164. The elasticity of themembranes162 and164, however, naturally tend to purge air therefrom. In an alternative embodiment thesystem10,100 can be adapted to provide a vacuum source that pulls a vacuum between themembranes162 and164 to purge air therefrom.

To purge air from between the membranes, thesystem10,100 also provides a positive pressure source. Insystems10,100, for example, thepump motor46 can be used in reverse of normal operation and, instead of producing vacuum source44 (FIGS.1 and2), produce a positive pressure. Thesystem10 applies a positive pressure through the aperture orport222 in theupper chamber wall216 when air is detected between themembranes162 and164 or elsewhere in thedisposable unit160 or tubing. In one purge procedure, thecontroller30 causes themotor22/actuator24 to move thepiston head214 to approximately a halfway point in either the positive or negative strokes. With theupper membrane162 vacuum-pressed against theupper chamber wall216, and thelower membrane164 and thediaphragm232 vacuum-pressed against thepiston head214 maintained at the halfway point, the controller causes the negative pressure source in through theaperture222 to change to a positive pressure source, which pushes theupper membrane162 conformingly against thelower membrane164, which is supported by thepiston head214 and thediaphragm232. Any air or fluid residing in thereceptacle172 is purged to drain as is any air between thereceptacle172 and drain18.

B. Capacitance Volume Sensor

FIGS. 17A and 17B also illustrate that thepump20 cooperates with an embodiment of the capacitancefluid volume sensor60 of thesystem10. One embodiment of acapacitance sensor60 is disclosed in greater detail in the patent application entitled, “Capacitance Fluid Volume Measurement,” Ser. No. 10/054,487, filed on Jan. 22, 2002, incorporated herein by reference. Thecapacitance sensor60 uses capacitance measurement techniques to determine the volume of a fluid inside of a chamber. As the volume of the fluid changes, a sensed voltage that is proportional to the change in capacitance changes. Therefore, thesensor60 can determine whether the chamber is, for example, empty, an eighth full, quarter full, half full, full, or any other percent full. Each of these measurements can be made accurately, for example, at least on the order of the accuracy achieved by known gravimetric scales or pressure/volume measurements. The present invention, however, is simpler, non-invasive, inexpensive and does not require the medical operation to be a batch operation.

Generally, the capacitance C between two capacitor plates changes according to the function C=k×(S/d), wherein k is the dielectric constant, S is the surface area of the individual plates and d is the distance between the plates. The capacitance between the plates changes proportionally according to thefunction 1/(R×V), wherein R is a known resistance and V is the voltage measured across the capacitor plates.

The dielectric constant k of medical fluid or dialysate is much higher than that of air, which typically fills thepump chamber210 when thepiston head214 is bottomed out against theupper chamber wall216, as illustrated in FIG.17B. Therefore, the varying distance, Δd, of the low dielectric displacement fluid between the expanding andcontracting receptacle172 and thelower chamber wall218 may have some effect on the capacitance betweenground capacitance plate224 and theactive capacitance plate226. Likewise the surface area, S, of the capacitance plates and the movingmembrane164 may have some effect on the capacitance. Certainly, the changing overall dielectric from the high dielectric dialysate replacing the low dielectric air (or vice versa) affects the overall capacitance between theplates224 and226.

As themembranes162 and164 expand and fill with medical fluid, the overall capacitance changes, i.e., increases. Thesensor60 generates a high impedance potential across the grounded andactive capacitor plates224 and226. The high impedance potential is indicative of an amount of fluid in thereceptacle172. If the potential does not change over time when it is expected to change, thesensor60 can also indicate an amount or portion of air within thereceptacle172.

A capacitance sensing circuit amplifies the high impedance signal to produce a low impedance potential. The low impedance potential is also fed back to theguard plate228, which protects the sensitive signal from being effected by outside electrical influences. The amplified potential is converted to a digital signal and fed to theprocessor34, where it is filtered and/or summed. The video monitor40 can then be used to visually provide a volume and/or a flowrate indication to a patient or operator. Additionally, theprocessor34 can use the summed outputs to control thepump20 of thesystem10, for example, to terminate dialysate flow upon reaching predetermined overall volume.

Referring now toFIG. 18, thepump120 of thesystem100 is illustrated in operation with thecapacitance sensor60 of the present invention. Thepump120 forms a clamshell with first andsecond portions246 and248, which together form thepump chamber250. Theportions246 and248 are rigid, fixed volume, disked shaped indentations in thebase114 andlid116 of thehardware unit110. The clamshell first andsecond portions246 and248 are closed and sealed on thepump receptacle portion172 of thedisposable unit110, which includes theexpandable membranes162 and164.

An opening oraperture252 is defined between the first andsecond clamshell portions246 and248 and theflexible membranes162 and164. Theopening252 enables medical fluid, for example, dialysate, to enter and exit thechamber250 between themembranes162 and164 in thereceptacle portion172. Thereceptacle portion172 fluidly communicates with thevalve manifold190.

FIG. 18 shows thepump chamber250 in an empty state with bothmembranes162 and164 in relaxed positions, so that theflexible receptacle portion172 is closed. The empty volume state is achieved when themembranes162 and164 have collapsed so that substantially all the fluid is removed from thesterile receptacle172 and likewise thepump chamber250.

The empty volume state can be achieved, for example, by allowing theelastic membranes162,164 to return to their relaxed, unstressed state as shown in FIG.18. Also, bothmembranes162 and164 can be forced together against each other or against either one of theinside portions246 and248 of thepump chamber250. When thepump chamber250 is in the full state, the medical fluid resides between themembranes162 and164, wherein the membranes have been suctioned against the inner walls ofportions246 and248.

It should be appreciated that either one or both of themembranes162 and164 can be moved towards and away from theclamshell portions246 and248 by any suitable fluid activation device. In various embodiments, the diaphragm pump is pneumatically or hydraulically actuated.

Thediaphragm pump120 of thesystem100 does not require a separate piston or mechanical actuator as does the pump20 of thesystem10. Theclamshell portions246 and248 defineports254 and256, respectively, to allow for movement of a displacement fluid (for example, pneumatic or hydraulic fluid) into and out of the chamber areas outside of thereceptacle172 to operate the diaphragm pump.

In an embodiment, the medical fluid, for example, dialysate, is suctioned into thereceptacle172 in thechamber250. Thereceptacle172, defined bymembranes162 and164, may be filled with medical fluid by applying negative pressures to one or both of thechamber ports254 and256. The medical fluid can be emptied from thereceptacle172 by applying a positive pressure to at least one of theports254 and256, or by allowing themembranes162 and164 to spring back into shape. In an alternative embodiment, the medical fluid, for example, dialysate, is pressurized from an external source to move in and out of thepump chamber250 between themembranes162 and164.

Theclamshell portions246 and248 form and hold the capacitor plates of thecapacitance sensor60. In an embodiment,upper clamshell portion246 includes an active metal or otherwiseconductive capacitance plate258 between electrically insulative or plastic layers. Ametal guard plate260 is provided on the outer plastic layer of theupper clamshell portion246. Theguard plate260 provides noise protection for the high impedance signal that transmits from theactive capacitor plate258.

As with thepump20 ofsystem10, theactive capacitor plate258 ofupper clamshell portion246 of thepump120 of thesystem100 electrically couples to a capacitance sensing circuit. Theguard plate260 likewise electrically couples to the feedback loop of the capacitance sensing circuit as described above.

In an embodiment,lower clamshell portion248 is also made of an inert plastic, wherein ametal capacitor plate262 attaches to the outer surface of thelower clamshell portion248. Themetal capacitor plate262 disposed on the outside of theclamshell portion248 electrically couples to ground.

In one implementation, a negative pressure is constantly maintained at thelower port256, so that thelower membrane164 is pulled to conform to the inner surface of the groundedclamshell portion248 during a multitude of fill and empty cycles. In this implementation, theupper membrane162 does the pumping work. That is, when a negative pressure is applied toupper port254 ofupper clamshell246,upper membrane162 is suctioned up against and conforms with the inner surface ofupper clamshell246. This action draws fluid from thesupply bag14, through the manifold190, and into thereceptacle172. To expel fluid, the negative pressure is released fromupper port254, whereinupper membrane162 collapses to push the fluid from thereceptacle172. Alternatively, a positive pressure is applied through one or both ports.

In operation, thecapacitance sensor60 operates substantially as described inFIGS. 17A and 17B. Thereceptacle172 expands between theportions246 and248. A varying distance, Δd, of the low dielectric displacement fluid between the expanding andcontracting receptacle172 and theportions246 and248 may have some effect on the capacitance between theground plate262 and theactive plate258. Likewise the surface area, S, defined by the ground and active capacitance plates and the expanding membranes may have some effect on the overall capacitance. Certainly, the changing overall dielectric from the high dielectric dialysate replacing the low dielectric air (or vice versa) affects the overall capacitance between theplates258 and262.

As themembranes162 and164 expand and fill with medical fluid, the capacitance changes, i.e., increases. Each different amount of medical fluid within thechamber250 has a unique overall capacitance. A unique capacitance value can therefore be associated with each specific fluid volume in the chamber, for example, substantially empty, partially fall, or substantially full.

As an alternative to thecapacitance volume sensor60 described above, the volume of dialysate fluid flowing through theautomated systems10 and100 can be determined using other methods, such as through an electronic balance. In such a case, the electronic balance keeps track of the amount of dialysate that is supplied to the system during a priming of the system. The electronic balance also monitors any additional dialysate added to the system during dialysis treatment.

In other alternative embodiments, any of the systems described herein can be sensed using other types of flowmeters or devices employing Boyle's Law, which are known to those of skill in the art. Further, various other types of fluid volume measurement or flowrate devices can be used with theautomated systems10 and100, such as orifice plates, mass flow meters or other flow measuring devices known to those of skill in the art.

VI. Precision Pressure Control

As discussed above, thesystem10 employs avalve actuator24 and apump motor22. In one embodiment thepump motor22 is a stepper motor. In another embodiment, themotor22 may be a DC motor or other type of repeatable and accurately positionable motor. Each of these types of motors enablesystem10 to position thepiston212 andpiston head214 very accurately within thepump chamber210. In the case of a highprecision rotary motor22, theactuator24 converts the rotary motion into a translation motion precisely and moves thepiston212 back and forth within thechamber210 within the accuracy and repeatability requirement of the system. The resolution of the linear stepper motor in an embodiment is about 0.00012 inches per step to about 0.00192 inches per step.

Thepump motor22 is also programmable. The programmable nature of thepump motor22 enables acceleration, velocity and positional data to be entered into thecontroller30, wherein thecontroller30 uses the information to position thepiston212 andpiston head214 within thepump chamber210, within an appropriate amount of time, to produce a desired amount of force or fluid pressure. The ability to preset the acceleration, velocity and position of thepiston head214 provides an advantage over purely pneumatic systems that respond relatively sluggishly to pneumatic signals.

The flexible nature of the PVC medical tubing described, e.g., in connection with FIG.8 and the membrane material, described above in connection withFIGS. 13 and 14, causes thesystem10 to have what is known as “compliance”. Compliance is caused when thesystem10 attempts to create fluid pressure, e.g., by moving thepump piston212 andhead214, but instead causes the flexible tubing and membranes to expand. With the flexible tubing and membranes, compliance is inevitable. Eventually, when the tubing and membranes have expanded to their elastic limit, the pressure in the pump chamber210 (i.e., in the receptacle172) and throughout the tubing rises sharply. It is desirable to overcome the compliance of the tubing andmembranes162 and164 as quickly as possible so that pressure may be built to drive the fluid.

The present invention uses a hybrid pressure control system that combines the ability to preset the pump piston acceleration and velocity with an adaptive pressure control scheme, which causes the pressure to achieve a desired pressure set point for any given stroke and causes the pressure to be fine tuned over time, i.e., over repeated strokes. That is, the present invention employs a method of controlling pressure within the system that seeks first to overcome system compliance and then seeks to achieve a desired pressure set point. The output of the present method of controlling pressure within thepump chamber210 is illustrated by the velocity and pressure curves of FIG.19.

In general, thesystem10 controls the pressure within thereceptacle172 in thepump chamber210 by controlling the velocity of thepiston212 andpiston head214. Thevelocity profile390 ofFIG. 19 illustrates a single pump stroke that occurs over a time “t” beginning at the start ofstroke position392. In the beginning of the stroke, the velocity ramps up at apreset acceleration394. Thepreset acceleration394 is programmed into thecontroller30. When the velocity due to thepreset acceleration394 reaches amax velocity396, theacceleration394 changes to a zero acceleration, and thepiston212 moves at theconstant max velocity396.

During the time period of theacceleration394 and themax velocity396, which is designated by the dashedvertical line398, the corresponding pressure as illustrated by apressure curve401 ofpressure profile400, ramps up beginning very slowly and exponentially increasing as the time reaches that of the dashedline398. In the initial portion of the pressure curve, i.e., just after the start of stroke position, the pressure builds slowly as the compliance in the system is taken up. As the compliance is taken up, the pressure builds at faster and faster rates.

When the pressure reaches apressure proximity threshold402, set in software, the software within thecontroller30 converts from the previous motion (acceleration, velocity, position) control to an adaptive control. It should therefore be appreciated that the method of controlling pressure within the fluid pump of the present invention is a hybrid type of control method, employing a combination of techniques.

The motion control portion, accented by theacceleration394 andmax velocity396, represents a period in time when the method of control is forcing the system to overcome the pressure compliance. Upon reaching thepressure proximity threshold402, thecontroller30 causes the velocity to sharply decelerate atdeceleration404.Deceleration404 reduces the velocity of thepiston212 andpiston head214 to avelocity406, which is a velocity that aids in the ability of the adaptive control portion of the pressure control system to achieve a pressure setpoint408. That is, without the programmeddeceleration404, the adaptive control portion would have a more difficult (i.e., longer) time controlling the velocity to make the pressure reach or substantially reach the pressure setpoint408.

As explained in more detail below, theacceleration394 is adaptively controlled in an embodiment, so as to reduce the amount of initial overshoot. The adaptive control over theacceleration394 is fine tuned over time to further reduce the amount of initial overshoot. Each of these measures affects the amount of controlleddeceleration404 needed.

After the controlleddeceleration404 reaches thevelocity406 and until the time of the second dashedline410, thesystem10 operates in an adaptive mode. The secondvertical line410 occurs near the end of the stroke. As illustrated, the adaptive portion of the stroke is broken down into a number of areas, namelyarea412 andarea414.Area412 is characterized by the overshoot or undershoot caused by the programmedacceleration394. In applying adaptive techniques, the adjustments or parameters that overcomearea414 error are tailored in software to combat overshoot or undershoot. Thearea414 focuses on attempting to minimize the error between theactual pressure curve401 and the pressure setpoint408. During thearea414, the parameters and adaptive measures are tailored in software reduce the oscillation of thepressure curve401 to achieve a pressure setpoint408 as much as possible and as quickly as possible.

Upon reaching the time denoted by the dashedline410, the pressure control method once again resumes motion control and decelerates the velocity at a controlled andpredetermined deceleration416 down to afinal travel velocity418, which is also the initial velocity at the start of thestroke392. In an alternative embodiment, the method can simply let the adaptive control continue past thetime line410 and attempt to achieve thefinal travel velocity418. After thetime line410, the pressure alongpressure curve401 falls off towards zero pressure as illustrated by thepressure profile400. Comparing thepressure profile400 to thevelocity profile390, it should be appreciated that pressure remains in thereceptacle172 of thepump chamber210 even after the stroke ends at time “t”. In some cases, the pressure overshoots as thepiston212 suddenly stops, wherein the momentum of the liquid produces a pressure spike after time “t”.

Referring now toFIG. 20, analgorithm420 for employing the adaptive pressure control during theareas412 and414 of thepressure profile400 is illustrated. In an embodiment, the adaptive control portion of the pressure control method employs a proportional, integral and derivative (“PID”) adaptive parameters. In the method, a pressure reading is taken from a pressure sensor which senses the pressure inside thereceptacle172 of thepump chamber210, and which provides apressure sensor input422 to thecontroller30, as illustrated by thealgorithm420.Pressure sensor input422 is sent through adigital filter424, producing a measuredvariable426. The measured variable426 is compared with a desired variable, i.e., the pressure setpoint408 illustrated inFIG. 19, wherein anerror428 is produced between the measured variable426 and the desired pressure setpoint408.

Next, theerror428 is entered into aPID calculation430, which uses aproportional coefficient432, anintegral coefficient434 and adifferential coefficient436. The output of thePID calculation430 is anadaptive pressure change438. Thecontroller30 then changes the velocity up or down to produce thepressure change438.

In thepressure profile400 ofFIG. 19, thealgorithm420 ofFIG. 20 is constantly being performed during theadaptive areas412 and414. As discussed below, the corrective parameters, e.g., thecoefficients432,434 and436, are used differently during theareas412 and414 because correction in thearea412 is focused on minimizing overshoot and undershoot, while correction in thearea414 however is focused on reducing error to zero about the pressure setpoint408.

As described above, asingle pump20 is used in thesystem10. Thesingle pump20 provides positive pressure during the patient fill stroke and the pump to drain stroke. Thepump20 also provides negative pressure during the pull fromsupply bag14 stroke and the pull frompatient12 stroke. Of the four strokes, it is most important to accurately control the pressure during the patient fill and patient drain stoke. It is not as critical to control the pressure when pumping fluid from thesupply bags14 or when pumping fluid from thereceptacle172 of thepump chamber210 to drain18. In the two positive pressure strokes, one stroke, namely the patient fill stroke, it is critical to properly control pressure. In the two negative pressure strokes, one of the strokes, namely the pull from patient stroke, it is critical to properly control pressure. In the other two strokes, pressure is controlled without taxing the controller,motor22 anddisposable unit160 needlessly.

Referring now toFIG. 21, pressure and velocity curves are shown for a number of strokes during the patient fill cycle. Theupper profile440 shows theactual pressure444 versus the desiredpressure442 in milli-pounds per square inch (“mPSI”). Thelower profile450 shows corresponding velocity curves. In thepressure profile440, thedarkened line442 corresponds to the desired pressure in mPSI. Thecurve444 illustrates the actual pressure in mPSI. Thecurves452a,452band452cin thevelocity profile450 illustrate the piston velocities that produce the pressure fluctuations along thepressure curve444 of thepressure profile440. The velocity is measured in some increment of steps per second, such as milli-steps per second or micro steps per second when themotor22 employed is a stepper motor. Different stepper motors for use in the present invention may be programmed in different increments of a step. The actual velocity is therefore a function of the resolution of the stepper motor.

At time zero, the desiredpressure442 changes virtually instantaneously to 2000 mPSI. The desiredpressure curve442 maintains this constant 2000 mPSI until reaching approximately 1.6 seconds, at which point the desiredpressure442 returns virtually instantaneously to zero. This step by the desiredpressure curve442 represents one complete patient fill stroke, wherein one full positive up-stroke of thepiston212 andpiston head214 within thepump chamber220 occurs. In this step it is critical to control pressure because dialysate is being pumped into the patient'speritoneal cavity12. Theactual pressure curve444 ramps up exponentially and oscillates about the 2000 mPSI set point in the manner described in connection with FIG.19. It should also be noted that thevelocity curve452afollows a similar pattern to that shown in FIG.19.

At about 1.6 seconds, i.e., when the piston head has reached theupper chamber216 of thevalve chamber210,controller30 stops thepiston212 from moving. The velocity of the piston head remains at zero until approximately 3.4 seconds. In this period, the valves have all been closed via one of the “all valves closed” positions illustrated in connection with FIG.16A. As illustrated bypressure curve444, residual fluid pressure resides within thepump chamber210 even though thepiston head214 is not moving.

At about time 3.4 seconds, the desiredpressure curve442 switches virtuously instantaneously to −2000 mPSI. Thepump20 is now being asked to expand and form a negative pressure that pulls fluid from thesupply bags14. During this stroke, it is not as critical to control pressure as accurately in the patient fill stroke. Accordingly, the method may be programmed to bypass the motion control portion of the pressure control method and simply adaptively seek to find the pressure set point alongline442. Dialysate moves through thefluid heating path180 of the disposable unit160 (seeFIGS. 3A and 5, etc.) during the patient fill stroke. Much of the compliance, i.e., stretching of the system occurs when the fluid passes through thepath180. Pumping fluid from thesupply bag14, however, does not require the fluid to pass through theheating path180. Thesystem10 does not therefore experience the same level of compliance during this stroke. It is possible to pump from thebags14 without using the motion control portion illustrated in connection withFIG. 19, since the lessened compliance may not require the “brute force” supplied by the controlled acceleration.

InFIG. 21, the pump completes the stroke that pulls dialysate from the supply bag at about five seconds. The demand pressure alongcurve442 returns to zero accordingly. Next, the valve switches to an all closed position, thecontroller30 sets the piston speed to zero, and the piston head resides substantially along thelower chamber wall218, with thereceptacle172 full of fluid until approximately 6.8 seconds has passed, wherein thesystem10 repeats the patient fill stroke as described previously.

Referring now toFIG. 22, apressure profile452 and avelocity profile460 are illustrated for the patient drain stroke and the pump to drain stroke of the patient drain cycle. In thepressure profile452, thedemand pressure curve454 illustrates that the controller calls for a negative 2500 mPSI to pull dialysate from the patient. Thecontroller30 calls for a positive pressure of 2500 mPSI to push fluid from thereceptacle172 of thepump chamber210 to thedrain bag18. In thevelocity profile460 shown below thepressure profile452, theactual velocity462 in some increment of steps per second is illustrated. It should be appreciated that bothvelocity profiles450 and460 ofFIGS. 21 and 22 are absolute velocities and do not illustrate that thepump piston212 moves in positive and negative directions.

Theactual pressure curve456 of theprofile452 illustrates that the pressure is controlled to conform to thedemand pressure line454 more closely during the pull from patient portion than during the pump to drain portion of theprofile452. In an embodiment, thecontroller30 is programmed to provide a motion controlledvelocity464 for a portion of the pull from patient stroke and use an adaptive control during the time “t_adapt”. The method also uses, in an embodiment, a controlleddeceleration466 at the end of the pull from patient stroke. Alternatively, the method allows the PID control to seek to find zero pressure. Similarly, during the pump to drain stroke, thecontroller30 can switch to PID control only.

Referring now toFIG. 23, one embodiment of analgorithm470 illustrating the “fine tuning” adaptive control of the PID portion of the pressure control method of the present invention is illustrated.FIG. 23, likeFIG. 20, includes a measured pressure variable426 and a desirable pressure setpoint408. Thepressure error472 represents an error in either theovershoot area412 or theoscillation area414 illustrated in thepressure velocity profile400 of FIG.19. For each area, thealgorithm470 looks at two error components, namely, theerror474 determined in the current stroke and theerror476 stored for previous strokes. Thecontroller30 compares the twoerrors476 and478 and makes a decision as illustrated indecision block478.

In theblock476, if thecurrent stroke error474 is less than theprevious stroke error476, the method uses the previous coefficient because the previous coefficient is currently having a desirable result. If thecurrent stroke error474 is greater than theprevious strokes error476, two possibilities exist. First, the coefficient or corrective measure taken is not large enough to overcome the error increase. Here, the coefficient or corrective setting can be increased or another tactic may be employed. Second, the previous corrective procedure may be having an adverse impact, in which case the parameter connection can be reversed or another tactic can be employed. Obviously, to employalgorithm470, the method provides that thecontroller30 store the manner of the previous corrective attempts and outcomes of same. Based on what has happened previously, the controller decides to increment or decrease one or more of the parameters. The amount of increase or decrease is then applied to one or more coefficients stored in an increment table480. The adjusted or non-adjusted increment is then summed together with the currently used one ormore coefficients482 to form an adjusted one ormore coefficients484.

Referring now toFIG. 24, table500 illustrates various different coefficients and adaptive perimeters for the pressure control method of the present invention. Certain of the coefficients and parameters apply more to the motion control portion of the profiles illustrated above, i.e., the set acceleration, deceleration and velocity portions of the profiles. The motion control parameters, however, effect the error, which influences the adaptive parameters in the PID portion of the pressure control. Other parameters apply to the adaptive control portions of the profiles. Adjusting the beginning stroke acceleration parameter486 (illustrated by theacceleration394 of thevelocity profile390 ofFIG. 19) affects the motion control portion of the present method. Acceleration as illustrated, affects overshoot and the efficient use of stroke time. That is, it is desirable to have a high acceleration to overcome compliance quickly, however, the cost may be that overshoot increases. On the other hand, a lower acceleration may reduce overshoot but require more time to overcome the compliance in the system.

The proximately threshold parameter488 (illustrated bypressure line402 in thepressure profile400 ofFIG. 19) also affects overshoot and undershoot. Here, setting thepressure threshold488 too low may cause undershoot, whereas setting theparameter488 too high may cause overshoot. The DP/dt parameter490 is the change in pressure for a given period of time. This parameter seeks to achieve, for example inFIG. 19, a certain slope of thepressure curve401.

The maximumtravel velocity parameter492, illustrated asline396 in thevelocity profile390 ofFIG. 19, also affects overshoot and subsequent resonance. Another corrective factor is the conversion to pressuredeceleration494 corresponding to line410 of FIG.19. The method includes running the system without changing back to motion control and instead leaving the system in the adaptive PID control. The conversion to deceleration can have a large impact on the residual pressure remaining in thepump chamber210 after the valves close.

The PID factors Kp, Kd and Ki, labeled496,498 and502, respectively, affect the adaptive control portion of the present method but also affect, to a lesser extent, the controlled declaration at the end of the stroke. Each of the PID factors or parameters can be changed and adapted in mid-stroke. Also as illustrated inFIG. 23, the factors can be changed so as to optimize the system over time.

Each of the above-described factors can be used to insulate the fluid pressure from changes in the environment outside of thesystem10. For example, the factors can overcome changes due to physiological and chemical changes in the patient's abdomen. Also, the height of thepatient supply bags14 affects the initial loading of thefluid pump20. The parameters illustrated inFIG. 24 automatically overcome the changes due to bag height. Further, as the patient sleeps through the night, thesupply bags14 become less and less full, while thedrain bag18 becomes more full, both of which affect the pump pressure. The parameters illustrated inFIG. 24 are automatically adjustable to compensate for these changes and keep the system running smoothly.

Certain of the above-described factors is changed more and used more during theovershoot area412 illustrated in thepressure profile400 of FIG.19. Other factors and parameters are used and changed more during theoscillation portion414 of theprofile400.

VII. In-Line Heater

In an embodiment, theinline heater16 includes two electrical plate heaters, which are well known to those of skill in the art. The plate heaters of theheater16 have a smooth and flat surface, which faces thedisposable unit160. In an alternative embodiment, theautomated systems10 and100 provide an in-line heater16 having a plate heater in combination with an infrared heater or other convective heater.

In the alternative dual mode type heater, both the plate heater and, for example, the infrared heater are in-line heaters that heat the medical fluid that flows through thefluid heating path180 of thedisposable unit160. The radiant energy of the infrared heater is directed to and absorbed by the fluid in thefluid heating path180. The radiant energy or infrared heater in an embodiment is a primary or high capacity heater, which can heat a relatively large volume of cold fluid to a desired temperature in a short period of time.

The plate heater of the alternative dual mode heater in an embodiment is a secondary or maintenance heater which has a relatively lower heating capacity relative to the infrared heater. As described above, the plate heater uses electrical resistance to increase the temperature of a plate that in turn heats the fluid flowing though thepath180 adjacent to the plate.

The dual mode heater is particularly useful for quickly heating cool dialysate (high heat energy demand) supplied from one of thesupply bags14 to theautomated system10 or100. Initial system fills can be cooler than later fills, and the system can lose heat during the dwell phase. The temperature of the dialysate at initial system fill can therefore be quite low, such as 5° C. to 10° C. if thesupply bags14 are stored in cold ambient temperature.

The plate heater and the infrared heater of the dual mode heater embodiment of theheater16 can be arranged in various configurations relative to each other. The dual mode heaters in an embodiment are arranged so that the fluid passes by the heaters sequentially (e.g., first the plate heater and then the radiant or infrared heater). In another embodiment, the fluid passes by the heaters simultaneously (both heaters at the same time). The fluid flow path past the heaters can be a common flow path for both heaters, such as in thefluid heating path180, or include independent flow paths for each heater.

VIII. Fuzzy Logic for Heater Control

Similar to the controlling of the fluid pressure, the control of theplate heater16 is also subject to a number of environmental variables. For example, the ambient temperature inside the patient's home affects the amount of heat that is needed to raise the temperature of the medical fluid to a desired temperature. Obviously, the temperature of the dialysate in thesupply bags14 affects the amount of heat that is needed to raise the fluid temperature to a desired temperature. Plate heater efficiency also affects the amount of heating needed. Further, the voltage provided by the patient's home is another factor. Typically, a doctor or caregiver prescribes the temperature of the dialysate for the patient to be controlled to around a temperature of 37° C. It is, therefore, desirable to have a method of controlling theheater16 to correct for outside temperature gradients so as to maintain the proper patient fluid temperature.

Referring now toFIG. 25, one embodiment of aheating control method510 is illustrated. Themethod510 includes two separately performedalgorithms520 and530 that operate in parallel to form anoverall output544. Thealgorithm520 is termed a “knowledge-based” control algorithm. The knowledge-based control algorithm is based on knowledge, such as empirical data, flow mechanics, laws of physics and lab data, etc.

The knowledge-basedalgorithm520 requires a number of inputs as well as a number of constant settings. For example, thecontrol algorithm520 requires an input pulsatile flowrate. As illustrated below, the pulsatile flowrate is actually calculated from a number of input variables. Thesystem10,100 of the present invention provides fluid to the patient12 in pulses, rather than on a continuous basis. It should be readily apparent from the discussion based onFIGS. 16A and 16B, that when all valve heads in the disposable are closed, no fluid can flow through the fluid heating pathway to the patient. The flowrate of fluid to the patient is therefore a pulsatile flowrate, wherein the patient receives the dialysate in spurts or pulses. It is difficult to control fluid temperature with this type of flowrate. To this end, themethod510 provides thedual algorithms520 and530.

Besides the pulsatile flowrate, the knowledge-basedcontrol algorithm520 also receives a measured, i.e., actual, fluid inlet temperature signal. Further, thealgorithm520 stores the plate heater efficiency, which is based on empirical data. In one embodiment, the upper and lower plates of theplate heater16 are around 95% efficient.Algorithm520 also inputs the total heater power, which is derived from the voltage input into thesystem10,100. Residential voltage may vary in a given day or over a period of days or from place to place.

Thealgorithm520 also inputs the desired outlet fluid temperature, which is a constant setting but which may be modified by the patient's doctor or caregiver. As illustrated inFIG. 25, the desired outlet fluid temperature is inputted into both the knowledge-basedcontrol algorithm520 and the fuzzy logic basedcontrol algorithm530. As discussed in more detail below, the knowledge-basedcontrol algorithm520 outputs a knowledge-based duty cycle into asummation point544.

With respect to the fuzzy logic-basedcontrol algorithm530, the desired fluid temperature is inputted into acomparison point514. Thecomparison point514 outputs the difference between the desired fluid temperature and the actual measured fluid temperature exiting theheating system548. The fuzzy logic-basedcontrol algorithm530 therefore receives a change in temperature ΔT as an input. As described below, the fuzzy logic-basedcontrol algorithm530 employs the concepts and strategies of fuzzy logic control to output a fuzzy logic duty cycle.

In themethod510, the knowledge-based duty cycle is adaptively weighted against the fuzzy logic-based duty cycle. In an alternative embodiment, the system predetermines a relative weight. In themethod510, the fuzzy logic-based duty cycle is weighted, i.e., provided a weight factor as illustrated inblock542. For example, if the fuzzy logic-based duty cycle is given a weight factor of one, then the fuzzy logic-based duty cycle is weighted equally with the knowledge-based duty cycle. If the fuzzy logic-based duty cycle is given a weight factor of two, the fuzzy logic-based duty cycle is given twice the weight as the knowledge-based duty cycle. The weight factor inblock542 can change over time and/or be optimized over time.

It should be appreciated that theweighting block542 could alternatively be placed in the knowledge-based duty cycle output. As discussed below, however, the update rate of the fuzzy logic control loop is substantially higher than the update rate of the input signals entered into the knowledge-basedcontrol algorithm520. It is therefore advantageous to weight the fuzzy logic-based duty cycle, as opposed to the knowledge-based duty cycle.

The weighted fuzzy logic-based duty cycle and the knowledge-based duty cycle are summed together at summingpoint544 to produce an overall heater duty cycle. Duty cycle is one way to control the power input and, thus, the plate temperature of the heater. Controlling the duty cycle means controlling the percentage of a time period that full power is applied to the heater, for example,plate heater16. In an alternative embodiment, the output of theparallel control algorithms520 and530 could be a percentage of full power applied at all times. Still further, the output of theparallel control algorithms520 and530 could be a percentage of full power applied for a percentage of a time period. For purposes of illustration, themethod510 is described using a duty cycle output which, as explained, is the percent of a time period that full power is applied to the heater.

As described herein, the heating system548 (i.e., heater16) in one preferred embodiment is a plate heater, wherein upper and lower plates are disposed about a fluid heating path of thedisposable unit160. It should be appreciated, however, that themethod510 is equally applicable to the infrared heater previously described. Further, themethod510 is equally applicable to the combination of different types of heaters, such as, the combination of a plate heater and an infrared heater.

Themethod510 uses multiple temperature sensors, such as thesensors62 illustrated inFIGS. 1 and 2, which sense the temperature at different times within themethod510 and places withinsystem10,100. One sensor senses the fluid outlet temperature, which feeds back from theheating system548 to thecomparison point514. Another two temperature sensors sense the temperature of the top plate and the bottom plate and feed back to thetemperature limit controller546, located in software.

As illustrated, before the summed heater duty cycle is inputted into theheating system548, the system determines whether the top and bottom heating plates are already at a maximum allowable temperature. There exists a temperature above which it is not safe to maintain the plates of the plate heater. In a situation where one or both of the plates is currently at the temperature limit, themethod510 outputs a zero duty cycle, regardless of the calculations of the knowledge-basedcontrol system520 and the fuzzy logic-basedalgorithm530. To this end, the temperature of the top and bottom plates is fed back into theblock546, wherein the software only allows a heater duty cycle to be applied to theheating system548 if the current temperature of the top and bottom plates is less than the temperature limit.

In an embodiment, if one of the plates is at the limit temperature, themethod510 provides a zero duty cycle to both plate heaters, even though one of the plate heaters may be below the temperature limit. Further, the software may be adapted so that if the actual temperature of the plate heater is very close to the limit temperature, themethod510 only allows the duty cycle be at or below a predetermined set point. In this manner, when the actual temperature is very near the limit temperature, themethod510 goes into a fault-type condition and uses a safe duty cycle.

Assuming the actual plate temperatures are below the safe temperature limit, themethod510 applies the combined heater duty cycle from the parallel control algorithms atsummation point544. The heater duty cycle applies full power for a certain percentage of a given amount of time. The given amount of time is the update speed of the fuzzy logic control loop. The fuzzy logic control loop, including the fuzzylogic control algorithm530, updates about nine times per second in one preferred embodiment. It should be appreciated that the update rate of the fuzzy logic control loop is an important parameter and that simply increasing the update rate to a certain value may deteriorate the accuracy of the system. One range of update rates that provide good results is from about 8.5 times per second to about 9.5 times per second.

The update rate should not be evenly divisible into the frequency of the input power. For example, an update rate of nine times per second works when the AC frequency is held steady at 50 or 60 hertz. However, as is the case in some countries, the frequency may be 63 hertz. In such a case, an update rate of nine hertz will cause inaccuracy. Therefore, in one preferred embodiment, an update rate of a fraction of 1 hertz is preferred, such as 9.1 hertz. Assuming the update rate to be nine times per second, the time per update is approximately 110 milliseconds. Therefore, if the duty cycle is 0.5, i.e., half on, half off, the time at which full power is applied is 55 milliseconds. During the other 55 milliseconds, no power is applied. If the duty cycle is 90%, then fall power is applied for 90% of 110 milliseconds.

The update speed of the knowledge-basedcontrol algorithm520 is not as critical as the update speed of the fuzzy logic control loop. For one reason, the signal inputs to thealgorithm520 change gradually over time so that they do not need to be checked as often as the comparison between the desired fluid temperature and the actual fluid temperature. An update rate of about two seconds is sufficient for the signal inputs. The inputs of thecontrol algorithm520 can be updated from about once every half second to about once every four seconds. The knowledge-basedcontrol algorithm520 can run on the main processor of thesystem10,100, for example, an Intel StrongARM® Processor. To facilitate the update rate of the fuzzy logic control loop, a high speed processor, such as a Motorola Digital Signal Processor is used. The fuzzy logic-basedcontrol algorithm530 runs, in one embodiment, on a delegate processor, e.g., a Motorola Digital Processor.

Referring now toFIG. 26, the knowledge-basedcontrol algorithm520 is illustrated in more detail. As discussed above, in a first step, the knowledge-based control algorithm receives a number of signal inputs, as indicated byblock522. Some of these inputs are updated at the main processor level of about once every two seconds. Other inputs are set in software as constants. One of the input signals that varies over time, is the number of stroke intervals (“N”) per millisecond. The pump piston moves over a certain period of time, stops and dwells, and then moves again for a certain period of time. The pump makes N number of strokes per millisecond, which is inputted into the knowledge-based control algorithm.

Another input signal that varies over time is the input voltage (“V_ac”). The input voltage V_acchanges over time in a single house or in different locations. Another input signal that changes over time is the measured fluid inlet temperature (“T_in”). Fluid temperature T_inis measured by one of the numerous sensors of themethod510 described above. An input which will like not change over time is the plate heater efficiency (“E”). The heater efficiency E is determined empirically. The heater efficiency E could change depending upon the pressure inside the disposable unit during heating, the material of the disposable unit and the gap tolerance between the top and bottom plate. The heater efficiency E for a particular dialysis device therefore remains substantially constant. As described above, the desired fluid temperature (“T_desired”) may vary, depending on doctor's orders. However, for any given therapy session, T_desiredis a constant.

The knowledge-basedcontrol algorithm520 calculates a pulsatile flowrate (“Q”) in millimeters per minute according to the formula ofblock524. The formula for Q can change based on the desired units for the flowrate. In the illustrated embodiment, the formula for Q is 60,000 multiplied by the chamber volume in milliliters, the product of which is divided by T in milliseconds. Once again, the chamber volume is a constant that is a function of pump chamber wall geometry.

The knowledge-basedcontrol algorithm520 also calculates the total heater power in Watts, as indicated byblock526. In the illustrated embodiment, themethod510 calculates the heater power by dividing V_ac²by a plate heater resistance. The knowledge-basedcontrol algorithm520 then uses the above calculations to calculate the knowledge-based duty cycle, as indicated byblock528. The knowledge-based duty cycle equals, in one embodiment, a factor, e.g., of 0.07, multiplied by the temperature difference, AT, which equals T_desiredminus the T_in. This product is then multiplied by the pulsatile flowrate Q. The latter product is then divided by the product of the total heater power W times the heater efficiency E. The knowledge-based duty cycle is then fed intosummation point544 in combination with the fuzzy logic-based duty cycle output as illustrated by FIG.26.

Referring now toFIG. 27, one embodiment for the fuzzylogic control algorithm530 is illustrated. It should be appreciated that fuzzy logic is known generally to systems engineers and in the field of system and process control. The fuzzy logic algorithm described herein is merely one method of implementing fuzzy logic to perform the task of accepting an error input, which is the difference between the desired fluid temperature and the actual fluid temperature, and attempting to minimize this number to zero. Regardless of the method in which fuzzy logic is employed, the method inputs a temperature, sums a ΔT, and outputs a power limiter, such as the duty cycle. The first step in the fuzzy logiccontrol logic algorithm530 is to therefore calculate the difference between T_desiredand T_in, as indicated byblock532.

Next, a number of membership functions are implemented, as indicated byblock534. In this embodiment, thealgorithm530 implements five measurement functions. Two of the measurement functions, namely, nlarge and plarge, are trapezoidal membership functions. As is known in the art of fuzzy logic, the trapezoidal membership function consists of four nodes. Three other membership functions, namely nsmall, neutral and psmall, are set up as triangle membership functions, which consists of three nodes. After setting up the membership functions as indicated byblock534, the fuzzylogic control algorithm530 performs a fuzzification interface as indicated byblock536. In the fuzzification interface, thecontrol algorithm530 converts the temperature difference, ΔT, between T_desiredand T_into a number of fuzzy sets based on the membership functions set up as indicated inblock534.

Next, thecontrol algorithm530 applies a number of fuzzy logic heating rules as indicated byblock538. In an embodiment, thecontrol algorithm530 employs five fuzzy logic rules. One rules says that, if ΔT is nlarge, the output should decrease at a large pace. Another rules says that, if ΔT is nsmall, the output should decrease at a small pace. The third rule states that if ΔT is neutral, the output should be zero. A further rules states that if ΔT is psmall, the output should increase at a small pace. The final rule states that if ΔT is plarge, the output should increase at a large pace.

The next step in the fuzzylogic control algorithm530 is to perform a defuzzification interface, as indicated byblock540. In the defuzzification interface, the output of the rules is converted to an actual or “crisp” output, which can then be translated into a duty cycle. In the defuzzification step indicated by block590, the output of the fuzzy logic rules is converted to a “crisp” or exact number. This number is then converted to the proper output for the heater which, in this embodiment, is the fuzzy heater duty cycle.

As indicated byblock542, the next step is to determine how much weight to place on the fuzzy logic duty cycle with respect to the knowledge-based duty cycle. The weighting factor is decided by the fuzzy logic rules and the update rates of both the knowledge based and fuzzy logic based control algorithms. The weighted fuzzy logic duty cycle is then summed insummation point544 with the knowledge-based duty cycle yielded by the knowledge-basedcontrol algorithm520.

IX. Electrical Insulation for the System

Medical equipment and in particular equipment in intimate contact with a patient needs to be properly electrically insulated against leakage currents. Class I type of equipment provides basic insulation and a means of connecting to a protective earthing conductor in the building in which the equipment resides, which dissipates hazardous voltages if the equipment insulation fails. One primary use for thesystem10,100 of the present invention however is in a patient's home. This presents two problems for Class I devices and in particular for dialysis machines. First, in many countries and older homes, the earthing ground is faulty, unreliable or completely absent. Second, many people bypass grounding systems that do exist. The present invention overcomes this problem by providing anautomated dialysis system10,100 that requires no earth ground. Thesystem10,100 does not simply rely on the basic insulation provided by Class I devices but provides either double insulation or reinforced insulation.

Double insulation includes two layers of insulation. One layer of insulation can be the basic insulation. At 240 VAC, basic insulation typically requires four millimeters of “creepage” or 2.5 millimeters of “air clearance”. Creepage is the shortest distance between two conductive parts when both are disposed along a surface of insulation. Creepage is also the shortest distance between a conductive part and a bounding surface of a piece of equipment, wherein the conductive part and the equipment contact a piece of insulation. Air clearance is the shortest distance between two conductive parts or between a conductive part and a piece of equipment, measured through air.

The additional layer of insulation is called supplemental insulation. Supplemental insulation is independent insulation applied in addition to the basic insulation to ensure protection against electric shock if the basic insulation fails. The supplemental insulation can also be in the form of creepage and clearance.

Reinforced insulation, on the other hand, is a single layer of insulation offering the same degree of protection as double insulation. Reinforced insulation provides the electrical protection equivalent to double insulation for the rated voltage of the double insulation. For 240 VAC, used as the mains voltage of thesystem10,100, the basic insulation can withstand 1500 VAC and the supplemental insulation can withstand 2500 VAC. The single layer of reinforced insulation must therefore withstand at least 4000 VAC.

Referring now toFIG. 28, one embodiment of an electrically insulatedsystem550 of the present invention is illustrated. Thesystem550 is illustrated schematically, however, certain components of thesystem550 are identifiable as components illustrated in the hardware drawings discussed above. For example, thesystem550 includes the housing orenclosure112, illustrated above inFIGS. 3A to4B, which includes thebase114 and thelid116 of thehardware unit110. Thesystem550 also includes theheater16, which in an embodiment includes upper and lower heating plates illustrated in FIG.3A and discussed in connection withFIGS. 25 to27. Further, thesystem550 includes thedisplay device40 andtemperature sensors62 illustrated and discussed in connection withFIGS. 1 and 2.

InFIG. 28, the numbers in parenthesis indicate the working or operating voltage of the respective component. As illustrated, theline552 and neutral554 supply a mains voltage of 240 VAC, single phase, in an embodiment, which is the standard voltage used residentially in many countries throughout the world. Theline552 and neutral554 could otherwise supply the United States residential standard of 120 VAC, single phase, and indeed could provide a voltage anywhere in the range of 90 to 260 VAC. Theline552 and neutral554 feed the 240 VAC into amains part556. It is worth noting that thesystem550 does not include or provide a protective earth conductor.

Themains part556 feeds 240 VAC to a power supply printed circuit board (“PCB”)558.Power supply PCB558 includes amains part562 and alive part564. For purposes of the present invention, a “mains part” is the entirety of all parts of a piece of equipment intended to have a conductive connection with the supply mains voltage. A “live part” is any part that if a connection is made to the part, the part can cause a current exceeding the allowable leakage current for the part concerned to flow from that part to earth or from that part to an accessible part of the same equipment.

As illustrated, thelive parts560 and564 step down in voltage from themains parts556 and562, respectively, to 24 VDC. Obviously, the voltage may be stepped down to other desired levels.Live part560 feeds livepart566.Live part566 is an inverter having a step-up transformer that outputs a voltage of 1200 V_peak. Theinverter566 powers a number of cathode fluorescent lights, which provide backlighting for thedisplay device40.

Live part560 is also electrically isolated fromapplied part568, which is maintained at a zero potential. An “applied part” for purposes of the present invention is any part of thesystem550 that: (i) comes into physical contact with the patient or operator performing the dialysis treatment; (ii) can be brought into contact with the patient or operator; or (iii) needs to be touched by the patient. For instance, it is possible for the patient to touch the upper or lower plates of theplate heater16, thetemperature sensors62 and the enclosure orhousing112. Theapplied part568 represents schematically the casing or insulation around thetemperature sensors62.

In an embodiment, which only includes adisplay device40 and not a touch screen42 (discussed in FIGS.1 and2), thehousing112 includes awindow570, such as a glass or clear plastic window. The glass or plastic window provides the same level of insulation as the rest of the, e.g., plastic housing orenclosure112. In an embodiment which does include atouch screen42, the touch screen is properly electrically insulated, preferably by the manufacturer of same. Alternatively, one or more layers of insulation discussed below could be added tosystem550 to properly insulate thetouch screen42.

Thesystem550 makes available an input/output port572, which can be a serial port or an Ethernet port to connect thesystem550 to an external computer, a local area network, a wide area network, an internet and the like. To electrically insulate input/output port572, the system provides a protective covering orcasing574.

The mains part556 powers theheater element576, which is positioned and arranged to heat both the upper and lower plates of theplate heater16. In an alternative embodiment (not illustrated), themains part556 powers the infrared heater discussed above. As illustrated, double insulation is maintained between theheater element576 and theheater plate16. The double insulation includes basic insulation B(240), rated for 240 VAC, and supplemental insulation S(240), rated for 240 VAC.

For theheater plate16 andelement576, at least, the basic and supplemental insulation needs to be electrically insulative but thermally conductive. Polyimides, such as a Kaptong®, work very well. In an embodiment, therefore, the B(240) and S(240) layers each include Kapton® tape or sheet of about 0.3 millimeters thickness. As further illustrated, another layer of basic insulation B(240), rated for 240 VAC, and another layer of supplemental insulation S(240), rated for 240 VAC, are disposed between thetemperature sensor62 and theheater plate16. Thus theheater plate16 is completely and doubly insulated from the remainder of thesystem550. Alternatively, either of the double layers of insulation can be replaced by a single layer of reinforced insulation.

Theline552 and the neutral554 are insulated by basic operation insulation BOP(240), rated for 240 VAC, which is the electrical insulation wrapped or extruded around the respective wires. Basic insulation B(240), rated for 240 VAC, is provided between themains part556 and theenclosure112 and between thepower supply PCB558 and the enclosure. The basic insulation B(240) can be in the form of a properly separated air gap. Theenclosure112 itself provides supplemental insulation S(240) for 240 VAC. Themains part556 is therefore doubly insulated from the outside of theenclosure112.

Since appliedpart568 is maintained at a zero operating voltage, there needs to be no additional insulation placed between theapplied part568 and thehousing112. Accordingly, there is simply an operational separation displayed figuratively as OP between theapplied part568 and thehousing112. Double insulation or reinforced insulation D/R (24) for 24 VDC is however provided betweenlive part560 and theapplied part568, so that appliedpart568 maintains its zero potential. Basic insulation B(24), rated for 24 VDC, is provided betweenlive part560 and theenclosure112. The basic insulation B(24) can be in the form of a properly separated air gap. As stated above, theenclosure112 itself provides supplemental insulation S(240) for 240 VAC.Live part560 is therefore doubly insulated from the outside of theenclosure112.

No additional insulation is needed and only an operational separation OP is provided betweenlive part560 and thelive part566. Sincelive part566 is stepped up to 1200 V_peak, the supplemental insulation S(240) rated for only 240 VAC of theenclosure112 should not be relied upon. Accordingly, double insulation or reinforced insulation D/R (1200) for 1200 V_peakis provided between thelive part566 and thehousing112.

Double insulation or reinforced insulation D/R (240) for 240 VAC is provided between themains part556 and thelive part560. Double insulation or reinforced insulation D/R (240) for 240 VAC is also provided between the line andneutral line554 and the upper and lower plates ofplate heater16. Still further, double insulation or reinforced insulation DIR (240) for 240 VAC is provided between themains part562 and thelive part564 of thepower supply PCB558. Here, in the case of double insulation, either the basic or supplementary insulation can be a properly separated creepage distance on thePCB558.

Double insulation or reinforced insulation D/R (24) for 24 VDC is provided between thehousing112 and thedisplay device40. The separation between thedisplay device40, maintained at 24 VDC and the inverter, maintained at 1200 V_peakis only required to be operational.Live part566 must be separated from the outside of thehousing112 by D/R(1200) but not from the LP(24). The reason is that the LP(1200) is on the secondary side of thelive part566 and if it is shorted to the LP(24) due to a failure of the operational insulation, LP(1200) will become at most 24 VDC, providing no safety hazard.

X. Graphical User Interface

Referring now toFIG. 29, one embodiment of a graphical user interface (“GUI”)system600 is illustrated. TheGUI system600 in an embodiment employs web-based software as well as other types of software. As discussed previously in connection withFIG. 28, thesystem10,100 of the present invention is provided with an input/output (e.g., serial or Ethernet)port572, which is normally insulated from the patient by acover574. Theport572 allows thecontroller30 of thesystem10,100 to access an internet and a variety of other networks. TheGUI system600 of the present invention takes advantage of this capability by enabling thecontroller30 to interact with software on an internet or other network.

It should be appreciated that theGUI system600 does not require the patient to have internet or network access in their home. Rather, theport572 is for a maintenance person or installer to gain access to thecontroller30 within thehardware unit110. In this manner, the patient may bring their unit to a place having internet or network access, wherein the patient's software may be upgraded. The patient may then bring the unit home and operate it without having to gain internet or network access.

Using web-based software is advantageous because it is based on well established standards, so that the interface screens may be constructed using existing software components as opposed to being hand crafted. Web-based software allows for external communication and multiple access points. The software is portable. For each of these reasons, software constructed using existing software components reduces development time and cost.

The present invention includes the construction of a GUI using an embeddedweb browser602. In an embodiment, the embeddedweb browser602 is third party software. The embeddedweb browser602 can include any third party browser that runs on a target platform and includes support for advanced features such as HTML 4.0, ECMAScript, and animated GIFs. Theweb browser602 renders and supplies the various GUI screens to thevideo monitor40. Theweb browser602 also handles inputs made by the patient. When the operator interacts with the system (e.g., pressesbuttons43,124,125 and127 or turnsknob122, illustrated in FIG.3B), theweb browser602 forwards information about the interaction to the embeddedweb server604.

Theweb server604 in turn uses a webserver extension software606 to process the interaction. The embeddedweb server604 can also be any third party web server that runs on a target platform and includes support for the webserver extension software606 and that allows a dynamic definition of the information to be sent to the embeddedweb browser602.

The web server extensions are developed internally using the webserver extension software606 and conform to the specification of a mechanism, such as a Servlet, which works in conjunction with the chosen embeddedweb server604. The webserver extension software606 enables theweb server604 to retrieve back end and real time information from the instrument access andcontrol software608. There are a number of different existing web server extension technologies that may be used for the embeddedweb browser602, the embeddedweb server604 and the webserver extension software606, such as CGI, ASP, Servlets or Java Server Pages (“JSP”).

The webserver extension software606 interacts with the instrument access andcontrol software608. The instrument access andcontrol software608 is an internally developed operating environment for controlling the various lower level components of thesystem10,100, such as the valve motor/actuator, pump motor/actuator and heater.

Depending on the operator input and the state of theautomated dialysis system10,100, the webserver extension software606 can interact with the instrument access andcontrol software608 to obtain information from same and to cause one of the devices of thesystem10,100 to take action. The webserver extension software606 then sends information to the embeddedweb browser602, which may then be displayed on thedisplay device40. The webserver extension software606 communicates with the instrument access andcontrol software608 using, in an embodiment, the CORBA standard. This communication, however, may take place using various different protocols known to those of skill in the art.

During the operation of thesystem10,100, an event may occur that requires high priority information to be displayed to the operator, for example, an alarm and corresponding message either on thedisplay device40 or on a separate dedicated alarm display. When a high priority event occurs, the instrument access andcontrol software608 generates an event that is handled by an event-handlingsoftware610, which can be developed internally. The event-handingsoftware610 in turn notifies the embeddedweb browser602, through the use of a plug-in or a refresh request simulation from theweb server604, to refresh whatever display the web browser is currently causing to be displayed ondisplay device40.

The event-handingsoftware610 enables information to flow from the instrument access andcontrol software608 to the embeddedweb browser602 without a request by the embeddedweb browser602, wherein the web browser thereafter requests a refresh. Theweb server604 then forwards the request to the webserver extension software606. The webserver extension software606 determines what information should be displayed on thedisplay device40 based on the state of thesystem10,110. The webserver extension software606 then relays that information back to the embeddedweb browser602, which updates the display device, e.g., to show an alarm condition.

In one embodiment of theGUI system600, the web client is internal to thehardware unit110 of thesystem10,100. As described above in connection withFIG. 1, thecontroller10 includes a plurality of processors (referred to collectively herein as processor34). A main microprocessor is provided that resides over a number of delegate processors. Each of the embeddedweb browser602,web server604, webserver extension software606 andevent handling software610 run on the main microprocessor. The instrument access andcontrol software608 runs on the main microprocessor and one or more of the delegate processors.

It is alternatively possible that a number of different external web clients may need to access information contained within thesystem10,100. It is therefore preferred that the HTTP commands to the embeddedweb server604 not require predetermined passwords, but instead use a stronger and more flexible security system.

Referring now toFIGS. 30A-30M, a number of screen shots of theGUI600 are illustrated that show the overall look and feel of thesystem10,100 as seen by the operator or patient. Further, these drawings illustrate various features provided by theGUI system600. The goal of the automated dialysis system of the present invention is to make a simple and well operating system. The device only requires twosupply bags14, weighs less than 10 kg and can be powered virtually anywhere in the world without the risk of electrical shock to the patient. Similarly, theGUI system600 is designed to be simple, intuitive, effective, repeatable and reliable.

As illustrated inFIG. 3B, thesystem10,100 includes adisplay device40, aknob122 that enables the user to interact with theGUI system600 and a number ofdedicated pushbuttons43 that enable the patient to navigate between three different screens namely a parameter change screen, a log screen and a therapy screen. In an embodiment, adisplay device40 is provided, wherein theinput devices43,122,124,125 and127 are each electromechanical. In an alternative embodiment, one or more of the input devices are provided by atouch screen42 that operates with thedisplay device40 and avideo controller38.

A simulated or electromechanical “stop”input124, an “OK”button125 and a “back”button127 are also provided. TheOK button125 enables the operator to indicate that a particular part of the set-up procedure has been completed and to prompt theGUI600 to move on to a next step of the set-up stage or to the therapy stage. Thestop button124 enables the operator or patient to stop the set-up or therapy procedures. Thesystem600 may include a handshake type of response, such as “are you sure you want to stop the set-up”. Other parts of the entire procedure, such as the patient fill or drain cycles immediately stop without further input from the operator. At certain points in the procedure, the system enables the operator to move back one or more screens using theback button127.

Referring now toFIG. 30A, thedisplay device40 and thevideo controller38 are adaptable to display animations, which provide the patient with information andinstructions612 in a comfortable format. As illustrated throughout the screen shots, theGUI system600 waits for the patient to read and understand whatever is being displayed on thedisplay device40 before moving on to the next step or stage.FIG. 30A illustrates that theGUI system600 is waiting until the patient is ready before beginning the therapy. Thesystem600 prompts the user to press an “OK” input to begin the therapy.FIG. 30A also illustrates that the therapy screen is being presently displayed by highlighting the word “therapy” at614.

InFIG. 30B, thedisplay device40 of theGUI system600 prompts the patient to gather the necessary supplies for the therapy, such as thesupply bags14.FIGS. 30B and 30C illustrate that thesystem600 uses static images, such asstatic image616 and animations, such asanimation618, which resemble the actual corresponding supplies or parts to aid the patient in easily, effectively and safely connecting to thesystem10,100. For example, theanimation618 ofFIG. 30C looks like the actual hose clamp of thesystem10,100, which aids the patient in finding the proper piece of equipment to proceed with the therapy. The arrow of theanimation618 also illustrates the action that the patient is supposed to perform, reducing the risk that the patient will improperly maneuver the clamp or perhaps break the clamp.

FIGS. 30D and 30E illustrate that theGUI system600 promotes hygienic operation of thesystem10,100 by prompting the patient to: (i) take the steps of covering the patient's mouth and nose at the proper time; and (ii) wash the patient's hands before coming into contact with critical fluid connectors, such as the patient fluid connector and the supply bag connectors. TheGUI system600 waits for the patient to finish and press an OK input at each step before proceeding to the next step. As illustrated inFIGS. 30D and 30E,software LEDs620 located at the top of thedisplay device40 indicate where the user is in the setup procedure.

Screen shots ofFIGS. 30A to30E and30H to30M each present procedural set-up steps of the therapy. Accordingly, the colors of the screen shots ofFIGS. 30A to30E and30H to30M are chosen so that they are more visible when viewed during the day or with lights on. In one embodiment, the screens are different shades of blue, wherein the static images and animations and inner lettering are white and the outer lettering and borders are black. As illustrated byFIGS. 30F and 30G however, the screen shots that illustrate the active stages of the therapy are chosen so that they are more visible when viewed at night or with lights off. In one embodiment, the screen shots ofFIGS. 30A to30F are black with ruby red lettering, diagrams and illustrations, etc. The red letting is configured so as not to be intrusive to a sleeping patient but still visible at distances of about 10 to 25 feet (3 to 7.6 meters).

FIGS. 30F and 30G illustrate that during active stages of the therapy, the therapy status information is displayed on the screen shots in the form of bothgraphics622 andnumerical data624. Therapy status information is displayed in real time or in substantially real time with a slight time delay.FIG. 30F illustrates a screen shot during a fill portion of the therapy. In particular,FIG. 30F illustrates the first fill of three total fills. Thegraphical clock622 illustrates that the fill cycle time is approximately ⅛th elapsed. Thearrow graphic622 indicates that the therapy is in a fill cycle. Also the graphical representation of thebody622 has a very low percentage of dialysate. Thenumerical data624 illustrates that thesystem10,100 has pumped 150 ml of dialysate into the patient.

FIG. 3G illustrates that the patient is currently undergoing the first drain cycle of three drain cycles that will take place overnight. The graphical representation of the clock illustrates that the drain cycle time is approximately ⅛th elapsed. The graphical arrow is pointing downward indicating a drain cycle. The body is shown as being substantially full of dialysate. Thenumerical data624 illustrates that 50 ml of dialysate has been removed from the patient.

FIGS. 30H and 30I illustrate that in the morning when the therapy is complete, the screen reverts back to the daytime colors, or colors which are more easily seen in a lighted room.FIG. 30H includes information andinstructions612 that prompt the patient to disconnect from thesystem10,100. The system waits for the patient to select the OK button125 (FIG. 3B) before proceeding.FIG. 30I includes ananimation618, which illustrates an action and equipment that the patient while disconnecting from the system. For each action in the disconnection sequence,system600 waits for the patient to select the OK button125 (FIG. 3B) before proceeding.

FIGS. 30J to30M illustrate that in an embodiment, the user navigates between the therapy, parameter changes and log information by selecting one of thededicated inputs43 illustrated in FIG.3B.FIG. 30J illustrates that the patient has selected theinput43 associated with the parameter changes information. Thescreen40 inFIG. 30J now highlights the word “changes” instead of the word “therapy.”

The parameter screen presents parameter information to the patient in a hierarchy format. First, as inFIG. 30J, thesystem600 presentscategories625 of parameters, such as patient preferences, daily patient data, therapy parameters, nurse parameters and service parameters. The patient can scroll through thevarious categories625 using theadjustment knob122 ofFIG. 3B, so that a desiredcategory625 is displayed in a highlighteddisplay area626.FIG. 30H illustrates that thepatient preferences category625 is currently displayed in the highlighteddisplay area626.

Once the user selects a highlightedcategory625 by pressing the OK button125 (FIG.3B), afirst door628 slides open and presents the user with a list of theparameters627 for the selected category625 (e.g., the patient preferences category), as illustrated by thescreen40 of FIG.30K.FIG. 30K illustrates that thepatient preferences category625 is displayed above thedoor628, so that the patient knows whichcategory625 ofparameters627 is being displayed. At the same time, the highlighteddisplay area626 now displays one of a select group of theparameters627 belonging to thepatient preferences category625.

Theparameters627 illustrated inFIG. 30K as belonging to thepatient preferences category625 include a display brightness percent, a speaker volume percent and a dialysate temperature in degree Celsius. Obviously, thepatient preferences category625 may includeother parameters627. Theother categories625 illustrated inFIG. 30J includedifferent parameters627 than those illustrated in FIG.30K.

The patient can scroll through and select one of theparameters627 for thepatient preferences category625 by rotatingknob122. In this manner, it should be appreciated that thesignal knob122 is used over and over again. This feature is in accordance with the goal of providing a simple system, wherein the patient only has to turn one knob instead of remembering which knob from a plurality of knobs applies to a particular feature. Theknob122 also enables the lettering to be bigger because the patient can scroll through to see additional parameter selections that are not displayed when thedoor628 is initially displayed. That is, the functionality of theknob122 provides freedom to theGUI600 to not have to display all the possible parameters at once. It should be appreciated that this benefit also applies to the category selection screen ofFIG. 30J, wherein each of thecategories625 does not have to be displayed simultaneously.

Once the patient selects one of the parameters of the patient preferences category, e.g., by pressing theOK button125, asecond door630 slides open, wherein thedisplay device40 illustrates that the patient has selected thedisplay brightness parameter627 of thepatient preferences category625, which is still displayed by thefirst door628 in FIG.30L. The highlightedarea626 now displays one of the range ofpossible values632 for the selectedparameter627 of the selected category.

InFIG.30L display device40 illustrates that the highlighteddisplay area626 currently shows avalue632 of eighty for thedisplay brightness parameter627 of the patient preferences category. Once again, the patient changes thevalue632 of the selectedparameter627 by rotating theknob122. When the patient selects a value632 (by pressing theOK input125 illustrated inFIG. 3B while the desired value is displayed) for the parameter of the chosen category, theGUI system600 saves the value as indicated by thedisplay device40 in FIG.30M.FIG. 30M illustrates that thesystem600 provides a feedback message to the patient that the selected value has been saved.

Thesystem600 in an embodiment presents information and instructions to the operator through the various visual tools discussed above. In an alternative embodiment, in addition to the visual information andinstructions612,static images616,animations618, parameter information, etc., one, or more or all of the above disclosed methods of communication is presented audibly to the patient or operator through speakers129 (FIG. 3B) and a sound card (not illustrated) that cooperate with thecontroller30 of thesystem10,100.

The various programs that run on the main microprocessor can also include one or more programs that activate a certain sound file at a certain time during the therapy or upon a certain event initiated by thesystem600, e.g., an alarm, or upon a patient or operator input. The sound files can contain the sound of a human voice or any other type of sound. The sound files walk the patient through the set-up portion of the therapy in an embodiment. The sound files can alert a patient who has made an inappropriate input into theGUI600, etc. The system does not activate a sound during the cycles, e.g., while the patient sleeps, in a preferred embodiment.

If the operator selects thededicated input43 corresponding to the log information (not illustrated), theGUI600 displays a screen or screens that show therapy data. In an embodiment, the therapy data is presented in a number of operator selectable logs. One of the logs can be a default log that is displayed initially, wherein the operator can switch to another log via, e.g., theknob122. The logs may pertain to the most recent therapy and/or can store data over a number of days and a number of therapies. The logs can store any type of operating parameter information such as cycle times, number of cycles, fluid volume delivered, fluid temperature information, fluid pressure information, concentration of dialysate constituents, any unusual or alarm type of events, etc.

It should be understood that various changes and modifications to the presently preferred embodiments described herein will be apparent to those skilled in the art. Such changes and modifications can be made without departing from the spirit and scope of the present invention and without diminishing its intended advantages. It is therefore intended that such changes and modifications be covered by the appended claims.

Claims (21)

1. A method of controlling pressure in a medical fluid pump comprising the steps of:

controlling a pump member according to a predetermined acceleration during a first portion of a pump stroke; and

adaptively changing the pump member velocity during a second portion of the pump stroke.

2. The method ofclaim 1, which further includes the step of controlling a pump member deceleration during the first portion of the stroke.

3. The method ofclaim 1, wherein the pump stroke is a patient fill stroke.

4. The method ofclaim 1, wherein controlling the pump member acceleration includes moving the member at a rate of acceleration until a predefined velocity is reached.

5. The method ofclaim 1, which includes the step of beginning the pump stroke at an initial, non-zero velocity.

6. The method ofclaim 1, which includes the step of dividing the second portion into at least two sub-portions and adaptively changing the pump member velocity differently for the different sub-portions.

7. The method ofclaim 1, which includes the step of adaptively changing the pump member velocity to correct for overshooting a pressure set point.

8. The method ofclaim 1, which includes the step of adaptively changing the pump member velocity to achieve a pressure set point.

9. The method ofclaim 1, which includes the step of adaptively changing the pump member velocity to achieve a desired end of stroke velocity.

10. The method ofclaim 1, wherein adaptively changing the pump member velocity includes determining an error between a desired pressure and an actual pressure and performing an error compensating for the determined error.

11. The method ofclaim 10, which includes the step of storing the error compensation for use in a subsequent pump stroke.

12. The method ofclaim 10, which includes the step of adjusting the error compensation during a subsequent stroke.

13. The method ofclaim 10, which includes the step of adjusting the error compensation during a subsequent stroke based on an error determination made during the subsequent stroke.

14. The method ofclaim 1, wherein adaptively changing the pump member velocity includes changing the velocity based on at least one parameter selected from the group consisting of: a beginning pump member acceleration, a pressure proximity threshold, a rate of pressure change, a maximum pump member velocity, a pump member deceleration, a proportional coefficient, a derivative coefficient and an integral coefficient.

15. The method ofclaim 14, which includes changing the velocity based on different ones of the parameters during different sub-portions of the second portion of the stroke.

16. A method of controlling pressure in a medical fluid pump comprising the steps of:

effecting a pump member acceleration and deceleration during a first portion of a pump stroke, the acceleration and deceleration determined before the first portion;

using a first set of factors determined during a second portion of the pump stroke to change the pump member velocity during the second portion; and

using a second set of factors determined during a third portion of the pump stroke to change the pump member velocity during the third portion.

17. The method ofclaim 16, wherein the first set of parameters corrects an overshoot or undershoot in actual pressure with respect to a desired pressure caused during the first portion of the pump stroke.

18. The method ofclaim 16, wherein the second set of parameters causes an actual pressure to oscillate about a desired pressure.

19. The method ofclaim 16, wherein the pump stroke is a first pump stroke and which includes bypassing the acceleration/deceleration of the first portion of the first stroke, and using only the adaptive control of the second and third portions of the first stroke, during all of a second pump stroke.

20. The method ofclaim 16, which includes adapting at least one of the first and second sets of parameters to compensate for a system variable selected from the group consisting of: patient physiology, fluid supply elevation, fluid supply level and fluid drain level.

21. An automated medical fluid system comprising:

a medical fluid pump; and

a controller that operates with the medical fluid pump to:

effect a pump member acceleration during a first portion of a pump stroke, the acceleration determined before the first portion;

use a first set of factors determined during a second portion of the pump stroke to change the pump member velocity during the second portion; and

use a second set of factors determined during a third portion of the pump stroke to change the pump member velocity during the third portion.

Images